@tigerpython/robotics-libraries 1.4.0

package/dist/index.js

@@ -0,0 +1,2896 @@
+"use strict";
+var __defProp = Object.defineProperty;
+var __getOwnPropDesc = Object.getOwnPropertyDescriptor;
+var __getOwnPropNames = Object.getOwnPropertyNames;
+var __hasOwnProp = Object.prototype.hasOwnProperty;
+var __export = (target, all) => {
+  for (var name in all)
+    __defProp(target, name, { get: all[name], enumerable: true });
+};
+var __copyProps = (to, from, except, desc) => {
+  if (from && typeof from === "object" || typeof from === "function") {
+    for (let key of __getOwnPropNames(from))
+      if (!__hasOwnProp.call(to, key) && key !== except)
+        __defProp(to, key, { get: () => from[key], enumerable: !(desc = __getOwnPropDesc(from, key)) || desc.enumerable });
+  }
+  return to;
+};
+var __toCommonJS = (mod) => __copyProps(__defProp({}, "__esModule", { value: true }), mod);
+
+// src/index.ts
+var index_exports = {};
+__export(index_exports, {
+  calliopeLibraries: () => libraries_default,
+  calliopeRawLibraries: () => libraries_raw_default,
+  getLibrary: () => getLibrary,
+  getRawLibrary: () => getRawLibrary,
+  listDevices: () => listDevices,
+  listLibraries: () => listLibraries,
+  microbitLibraries: () => libraries_default2,
+  microbitRawLibraries: () => libraries_raw_default2
+});
+module.exports = __toCommonJS(index_exports);
+
+// calliope/libraries.json
+var libraries_default = {
+  cbalarm: "import music\n_g1=['c6:1','r','c6,1','r','r','r']\ndef setAlarm(on):\n	if on:music.play(_g1,wait=False,loop=True)\n	else:music.stop()\ndef beep():music.pitch(2000,200,wait=False)",
+  cprover: "from calliope_mini import pin28,pin29,pin30\ndef forward():pin28.write_analog(v);pin29.write_digital(1);pin30.write_digital(1)\ndef left():pin28.write_analog(v);pin29.write_digital(0);pin30.write_digital(1)\ndef right():pin28.write_analog(v);pin29.write_digital(1);pin30.write_digital(0)\ndef stop():pin28.write_digital(0)\ndef move():left()\ndef rewind():right()\ndef setSpeed(speed):global v;v=int(speed/100*1023)\nsetSpeed(100)",
+  callimk: "import gc\nfrom calliope_mini import i2c,sleep\ni2c.init()\n_g1=30\n_g2=.09\ndef w(d1,d2,s1,s2):i2c.write(16,bytearray([0,d1,s1]));i2c.write(16,bytearray([2,d2,s2]))\ndef forward():w(0,0,_g1,_g1)\ndef backward():w(1,1,_g1,_g1)\ndef stop():w(0,0,0,0)\ndef right():w(0 if _g1>0 else 1,1 if _g1>0 else 0,_g1,_g1)\ndef left():w(1 if _g1>0 else 0,0 if _g1>0 else 1,_g1,_g1)\ndef rightArc(r):\n	A=abs(_g1)\n	if r<_g2:B=0\n	else:C=(r-_g2)/(r+_g2)*(1-A*A/200000);B=int(C*A)\n	if _g1>0:w(0,0,A,B)\n	else:w(1,1,B,A)\ndef leftArc(r):\n	A=abs(_g1)\n	if r<_g2:B=0\n	else:C=(r-_g2)/(r+_g2)*(1-A*A/200000);B=int(C*A)\n	if _g1>0:w(0,0,B,A)\n	else:w(1,1,A,B)\ndef setSpeed(speed):\n	A=speed;global _g1\n	if A<15:_g1=15\n	else:_g1=A\ndef motorL(dir,speed):i2c.write(16,bytearray([0,dir,speed]))\ndef motorR(dir,speed):i2c.write(16,bytearray([2,dir,speed]))\ndef led(right_left,on_off):\n	A=bytearray(2)\n	if right_left==0:A[0]=11\n	else:A[0]=12\n	A[1]=on_off;i2c.write(16,A)\ndef setLEDLeft(on):led(1,on)\ndef setLEDRight(on):led(0,on)\ndef setLED(on):led(1,on);led(0,on)\ndef rgbLED(red,green,blue):A=bytearray(2);A[0]=24;A[1]=red;B=bytearray(2);B[0]=25;B[1]=green;C=bytearray(2);C[0]=26;C[1]=blue;i2c.write(16,A);i2c.write(16,B);i2c.write(16,C)\ndef getDistance():i2c.write(16,bytearray([40]));sleep(20);A=i2c.read(16,2);B=A[0]<<8|A[1];return B\ndef irLeftValue():i2c.write(16,bytearray([29]));A=i2c.read(16,1)[0];return 0 if A&1!=0 else 1\ndef irRightValue():i2c.write(16,bytearray([29]));A=i2c.read(16,1)[0];return 0 if A&2!=0 else 1\ndef setServo(S,Angle):\n	if S=='S1':A=20\n	if S=='S2':A=21\n	i2c.write(16,bytearray([A,Angle]))\nexit=stop\ndelay=sleep",
+  cpglow: `from calliope_mini import*
+_g1=0
+_g2=0
+_g3=0
+_g4=50
+_g5=True
+_g6=False
+def makeGlow():global _g6;display.set_pixel(2,2,9);_g6=True
+def clear():display.clear()
+def forward():_f1(1)
+def back():_f1(-1)
+def right(angle):global _g3;_g3=(_g3+angle)%360
+def left(angle):right(-angle)
+def setPos(x,y):global _g1,_g2;_g1=x;_g2=y;_f2()
+def getPos():return _g1,_g2
+def setSpeed(speed):global _g4;_g4=speed
+def showTrace(enable):global _g5;_g5=enable
+def isLit():return display.get_pixel(_g1+2,4-(_g2+2))==9
+def _f1(s):
+	global _g1,_g2;sleep(2000-_g4*20);d=_g3//45
+	if d in[1,2,3]:_g1+=s
+	if d in[5,6,7]:_g1-=s
+	if d in[0,1,7]:_g2+=s
+	if d in[3,4,5]:_g2-=s
+	_f2()
+def _f2():
+	if not _g6:print('Use "makeGlow()" to create a Glow.');raise Exception('Glow not initialized.')
+	if not _g5:display.clear()
+	if-2<=_g1<=2 and-2<=_g2<=2:display.set_pixel(_g1+2,4-(_g2+2),9)`,
+  callibotmot: "import gc\nfrom calliope_mini import i2c,sleep\nimport machine\nclass Motor:\n	def __init__(A,id):A._id=id\n	def _f2(B,d,s):\n		if B._id==0:A=0\n		else:A=2\n		try:i2c.write(32,bytearray([A,d,s]))\n		except:\n			print('Please switch on mbRobot!')\n			while True:0\n	def rotate(B,s):\n		A=abs(s);A=A+50\n		if s>0:B._f2(0,A)\n		elif s<0:B._f2(1,A)\n		else:B._f2(0,0)\ndelay=sleep\ndef setLED(on):\n	if on==1:i2c.write(33,bytearray([0,3]))\n	else:i2c.write(33,bytearray([0,0]))\nmotL=Motor(0)\nmotR=Motor(2)",
+  callibot: "_B=True\n_A='Please switch on Robot!'\nimport gc\nfrom calliope_mini import i2c,sleep\n_g1=.06\ndef w(d1,d2,s1,s2):\n	try:i2c.write(32,bytearray([0,d1,s1]));i2c.write(32,bytearray([2,d2,s2]))\n	except:\n		print(_A)\n		while _B:0\ndef setSpeed(speed):global _g2;_g2=speed+40\ndef forward():w(0,0,_g2,_g2)\ndef backward():w(1,1,_g2,_g2)\ndef stop():w(0,0,0,0)\ndef right():A=int(_g2*1.1);w(0 if _g2>0 else 1,1 if _g2>0 else 0,A,A)\ndef left():A=int(_g2*1.1);w(1 if _g2>0 else 0,0 if _g2>0 else 1,A,A)\ndef rightArc(r):\n	A=abs(_g2)\n	if r<_g1:B=0\n	else:C=(r-_g1)/(r+_g1)*(1-A*A/200000);B=int(C*A)\n	if _g2>0:w(0,0,A,B)\n	else:w(1,1,B,A)\ndef leftArc(r):\n	A=abs(_g2)\n	if r<_g1:B=0\n	else:C=(r-_g1)/(r+_g1)*(1-A*A/200000);B=int(C*A)\n	if _g2>0:w(0,0,B,A)\n	else:w(1,1,A,B)\ndef setLEDLeft(on):\n	try:i2c.write(33,bytearray([0,0]))\n	except:\n		print(_A)\n		while _B:0\n	if on==1:i2c.write(33,bytearray([0,1]))\n	else:i2c.write(33,bytearray([0,0]))\ndef setLEDRight(on):\n	try:i2c.write(33,bytearray([0,0]))\n	except:\n		print(_A)\n		while _B:0\n	if on==1:i2c.write(33,bytearray([0,2]))\n	else:i2c.write(33,bytearray([0,0]))\ndef setLED(on):\n	try:i2c.write(33,bytearray([0,0]))\n	except:\n		print(_A)\n		while _B:0\n	if on==1:i2c.write(33,bytearray([0,3]))\n	else:i2c.write(33,bytearray([0,0]))\ndef irLeftValue():\n	try:\n		A=i2c.read(33,1)\n		if A[0]==130 or A[0]==131:return 1\n		else:return 0\n	except:\n		print(_A)\n		while _B:0\ndef irRightValue():\n	try:\n		A=i2c.read(33,1)\n		if A[0]==129 or A[0]==131:return 1\n		else:return 0\n	except:\n		print(_A)\n		while _B:0\ndef getDistance():\n	try:A=i2c.read(33,3);B=(256*A[1]+A[2])/10;return B\n	except:\n		print(_A)\n		while _B:0\ndef tsValue():\n	try:\n		A=i2c.read(33,1)\n		if A[0]==140 or A[0]==143:return 1\n		else:return 0\n	except:\n		print(_A)\n		while _B:0\ndef tsLeftValue():\n	try:\n		A=i2c.read(33,1)\n		if A[0]==136 or A[0]==139:return 1\n		else:return 0\n	except:\n		print(_A)\n		while _B:0\ndef tsRightValue():\n	try:\n		A=i2c.read(33,1)\n		if A[0]==132 or A[0]==135:return 1\n		else:return 0\n	except:\n		print(_A)\n		while _B:0\nexit=stop\ndelay=sleep\n_g2=90",
+  cputils: "def cat(filename):\n	with open(filename)as B:\n		A=B.readline()\n		while A:print(A[:-1]);A=B.readline()\nfrom math import asin,atan2,sqrt,degrees\ndef getPitch(a):A=atan2(a[1],a[2]);return int(degrees(A))\ndef getRoll(a):A=sqrt(a[0]*a[0]+a[1]*a[1]+a[2]*a[2]);B=asin(a[0]/A);return int(degrees(B))",
+  cpmike: "from calliope_mini import pin3,running_time,sleep\n_g1=running_time()\ndef isClicked(level=10,rearm_time=500):\n	A=False;global _g1\n	if running_time()-_g1<rearm_time:sleep(10);return A\n	B=pin3.read_analog()\n	if B<518-level:_g1=running_time();return True\n	return A"
+};
+
+// calliope/libraries.raw.json
+var libraries_raw_default = {
+  cbalarm: "# cbalarm.py\nimport music\n\n_m = ['c6:1', 'r', 'c6,1', 'r', 'r', 'r']\n\ndef setAlarm(on):\n    if on:\n        music.play(_m, wait = False, loop = True)    \n    else:\n        music.stop()\n        \n        \ndef beep():\n    music.pitch(2000, 200, wait = False)",
+  cprover: "# cprover.py\n                                             \nfrom calliope_mini import pin28, pin29, pin30\n\ndef forward():\n    pin28.write_analog(v)\n    pin29.write_digital(1)\n    pin30.write_digital(1)\n\ndef left():\n    pin28.write_analog(v)\n    pin29.write_digital(0)\n    pin30.write_digital(1)\n\ndef right():\n    pin28.write_analog(v)\n    pin29.write_digital(1)\n    pin30.write_digital(0)\n\ndef stop():\n    pin28.write_digital(0)\n\ndef move():\n    left()\n\ndef rewind():    \n    right()\n\ndef setSpeed(speed):\n    global v\n    v = int(speed / 100 * 1023)\n\nsetSpeed(100)\n",
+  callimk: '# callimk.py (motionkit2)\nimport gc\nfrom calliope_mini import i2c, sleep\ni2c.init()\n_v = 30\n_axe = 0.09\n\n\ndef w(d1, d2, s1, s2):\n    i2c.write(0x10, bytearray([0x00, d1, s1]))\n    i2c.write(0x10, bytearray([0x02, d2, s2]))\n\n\ndef forward():\n    w(0, 0, _v, _v)\n\n\ndef backward():\n    w(1, 1, _v, _v)\n\n\ndef stop():\n    w(0, 0, 0, 0)\n\n\ndef right():\n    w(0 if _v > 0 else 1, 1 if _v > 0 else 0, _v, _v)\n\n\ndef left():\n    w(1 if _v > 0 else 0, 0 if _v > 0 else 1, _v, _v)\n\n\ndef rightArc(r):\n    v = abs(_v)\n    if r < _axe:\n        v1 = 0\n    else:\n        f = (r - _axe) / (r + _axe) * (1 - v * v / 200000)\n        v1 = int(f * v)\n    if _v > 0:\n        w(0, 0, v, v1)\n    else:\n        w(1, 1, v1, v)\n\n\ndef leftArc(r):\n    v = abs(_v)\n    if r < _axe:\n        v1 = 0\n    else:\n        f = (r - _axe) / (r + _axe) * (1 - v * v / 200000)\n        v1 = int(f * v)\n    if _v > 0:\n        w(0, 0, v1, v)\n    else:\n        w(1, 1, v, v1)\n\n\ndef setSpeed(speed):\n    global _v\n    if speed < 15:\n        _v = 15\n    else:\n        _v = speed\n\n\ndef motorL(dir, speed):\n    i2c.write(0x10, bytearray([0x00, dir, speed]))\n\n\ndef motorR(dir, speed):\n    i2c.write(0x10, bytearray([0x02, dir, speed]))\n\n\ndef led(right_left, on_off):\n    buf_led = bytearray(2)\n    if right_left == 0:\n        buf_led[0] = 0x0B\n    else:\n        buf_led[0] = 0x0C\n    buf_led[1] = on_off\n    i2c.write(0x10, buf_led)\n\n\ndef setLEDLeft(on):\n    led(1, on)\n\n\ndef setLEDRight(on):\n    led(0, on)\n\n\ndef setLED(on):\n    led(1, on)\n    led(0, on)\n\n\ndef rgbLED(red, green, blue):\n    buf_rgbLed_red = bytearray(2)\n    buf_rgbLed_red[0] = 0x18\n    buf_rgbLed_red[1] = red\n    buf_rgbLed_green = bytearray(2)\n    buf_rgbLed_green[0] = 0x19\n    buf_rgbLed_green[1] = green\n    buf_rgbLed_blue = bytearray(2)\n    buf_rgbLed_blue[0] = 0x1A\n    buf_rgbLed_blue[1] = blue\n    i2c.write(0x10, buf_rgbLed_red)\n    i2c.write(0x10, buf_rgbLed_green)\n    i2c.write(0x10, buf_rgbLed_blue)\n\n\ndef getDistance():\n    i2c.write(0x10, bytearray([0x28]))\n    sleep(20)\n    data = i2c.read(0x10, 2)\n    distance = (data[0] << 8) | data[1]\n    return distance\n\n\ndef irLeftValue():\n    i2c.write(0x10, bytearray([0x1D]))\n    data = i2c.read(0x10, 1)[0]\n    return 0 if (data & 0x01) != 0 else 1\n\n\ndef irRightValue():\n    i2c.write(0x10, bytearray([0x1D]))\n    data = i2c.read(0x10, 1)[0]\n    return 0 if (data & 0x02) != 0 else 1\n\n\ndef setServo(S, Angle):\n    if S == "S1":\n        Servo = 0x14\n    if S == "S2":\n        Servo = 0x15\n    i2c.write(0x10, bytearray([Servo, Angle]))\n\n\nexit = stop\ndelay = sleep\n',
+  cpglow: '# cpglow.py\n# Version 1.0, Dec. 5, 2018\n\nfrom calliope_mini import *\n\n_x = 0\n_y = 0\n_dir = 0\n_speed = 50\n_trace = True\n_visible = False\n\ndef makeGlow():\n   global _visible\n   display.set_pixel(2, 2, 9)\n   _visible = True\n\ndef clear():\n    display.clear()\n    \ndef forward():    \n    _forward(1)\n\ndef back():    \n    _forward(-1)\n    \ndef right(angle):\n    global _dir\n    _dir = (_dir + angle) % 360\n\ndef left(angle):\n    right(-angle)\n\ndef setPos(x, y):\n    global _x, _y\n    _x = x\n    _y = y\n    _render()\n\ndef getPos():\n    return _x, _y\n\ndef setSpeed(speed):\n    global _speed\n    _speed = speed\n    \ndef showTrace(enable):\n    global _trace\n    _trace = enable    \n\ndef isLit():\n    return (display.get_pixel(_x + 2, 4 - (_y + 2)) == 9)\n   \ndef _forward(s):\n    global _x, _y\n    sleep(2000 - _speed * 20)\n    d = _dir // 45\n    if d in [1, 2, 3]:    \n        _x += s\n    if d in [5, 6, 7]:    \n        _x -= s\n    if d in [0, 1, 7]:    \n        _y += s\n    if d in [3, 4, 5]:    \n        _y -= s\n    _render()\n\ndef _render():\n    if not _visible:\n       print("Use \\"makeGlow()\\" to create a Glow.")\n       raise Exception("Glow not initialized.")\n    if not _trace:\n        display.clear()\n    if -2 <= _x <= 2 and -2 <= _y <= 2:    \n        display.set_pixel(_x + 2, 4 - (_y + 2), 9)\n\n',
+  callibotmot: '# callibotmot.py\n# Version 1.0, Apr 24, 2021 / AR\n\nimport gc\nfrom calliope_mini import i2c, sleep\nimport machine\n\nclass Motor:\n    def __init__(self, id):\n        self._id = id\n\n    def _w(self, d, s):\n        if self._id == 0:\n            _self = 0x00\n        else:\n            _self = 0x02    \n        try:           \n            i2c.write(0x20, bytearray([_self, d, s]))\n        except:\n            print("Please switch on mbRobot!")\n            while True:\n                pass\n    \n    def rotate(self, s):\n        v = abs(s)\n        v = v + 50 \n        if s > 0:           \n            self._w(0, v)    \n        elif s < 0:           \n            self._w(1, v) \n        else:   \n            self._w(0, 0)    \n\n \ndelay = sleep\ndef setLED(on):\n    if on == 1:\n        i2c.write(0x21, bytearray([0,0x03])) \n    else:\n        i2c.write(0x21, bytearray([0,0]))   \n\nmotL = Motor(0)\nmotR = Motor(2)\n\n\n\n',
+  callibot: '# callibot.py\n# Version 1.3, 17-Sept-2021 /JA\n# new: Touchsensors\n\nimport gc\nfrom calliope_mini import i2c, sleep\n\n_axe = 0.06\n\ndef w(d1, d2, s1, s2):\n    try:\n        i2c.write(0x20, bytearray([0x00, d1, s1]))\n        i2c.write(0x20, bytearray([0x02, d2, s2]))\n    except:\n        print("Please switch on Robot!")\n        while True:\n            pass\n            \ndef setSpeed(speed):\n    global _v\n    _v = speed + 40\n    #_v = int(speed * 1.1) + 35     \n\ndef forward():\n    w(0, 0, _v, _v)\n\ndef backward():\n    w(1, 1, _v, _v)\n    \ndef stop():\n    w(0, 0, 0, 0)\n        \ndef right():\n    v = int(_v * 1.1)\n    w(0 if _v > 0 else 1, 1 if _v > 0 else 0, v , v)   \n\ndef left():\n    v = int(_v * 1.1)  \n    w(1 if _v > 0 else 0, 0 if _v > 0 else 1, v, v)\n\ndef rightArc(r):  \n    v = abs(_v) \n    if r < _axe:\n        v1 = 0\n    else:            \n        f = (r - _axe) / (r + _axe) * (1 - v * v / 200000)             \n        v1 = int(f * v)\n    if _v > 0:\n        w(0, 0, v, v1)\n    else:\n        w(1, 1, v1, v)\n\ndef leftArc(r):  \n    v = abs(_v) \n    if r < _axe:\n        v1 = 0\n    else:\n        f = (r - _axe) / (r + _axe) * (1 - v * v / 200000)             \n        v1 = int(f * v)\n    if _v > 0:\n        w(0, 0, v1, v)\n    else:\n        w(1, 1, v, v1)\n\ndef setLEDLeft(on):\n    try:\n        i2c.write(0x21, bytearray([0,0])) \n    except:\n        print("Please switch on Robot!")\n        while True:\n            pass         \n    if on == 1:\n        i2c.write(0x21, bytearray([0,0x01])) \n    else:\n        i2c.write(0x21, bytearray([0,0]))   \n    \ndef setLEDRight(on):\n    try:\n        i2c.write(0x21, bytearray([0,0])) \n    except:\n        print("Please switch on Robot!")\n        while True:\n            pass \n    if on == 1:\n        i2c.write(0x21, bytearray([0,0x02])) \n    else:\n        i2c.write(0x21, bytearray([0,0]))   \n\ndef setLED(on):\n    try:\n        i2c.write(0x21, bytearray([0,0])) \n    except:\n        print("Please switch on Robot!")\n        while True:\n            pass \n    if on == 1:\n        i2c.write(0x21, bytearray([0,0x03])) \n    else:\n        i2c.write(0x21, bytearray([0,0]))   \n     \ndef irLeftValue():\n    try:\n        buffer = i2c.read(0x21,1)    \n        if (buffer[0] == 130 or buffer[0] == 131):\n            return 1\n        else:\n            return 0   \n    except:\n        print("Please switch on Robot!")\n        while True:\n            pass \n\ndef irRightValue():\n    try:\n        buffer = i2c.read(0x21,1)    \n        if (buffer[0] == 129 or buffer[0] == 131):\n            return 1\n        else:\n            return 0   \n    except:\n        print("Please switch on Robot!")\n        while True:\n            pass \n                                \ndef getDistance():\n    try:\n        buffer = i2c.read(0x21,3)\n        dist = (256 * buffer[1] + buffer[2])/10\n        return dist\n    except:\n        print("Please switch on Robot!")\n        while True:\n            pass  \n      \ndef tsValue():\n    try:\n        buffer = i2c.read(0x21,1)          \n        if (buffer[0] == 0x8C or buffer[0] == 0x8F):\n            return 1\n        else:\n            return 0  \n    except:\n        print("Please switch on Robot!")\n        while True:\n            pass    \n\ndef tsLeftValue():\n    try:\n        buffer = i2c.read(0x21,1)          \n        if (buffer[0] == 0x88 or buffer[0] == 0x8B):\n            return 1\n        else:\n            return 0  \n    except:\n        print("Please switch on Robot!")\n        while True:\n            pass \n        \ndef tsRightValue():\n    try:\n        buffer = i2c.read(0x21,1)          \n        if (buffer[0] == 0x84 or buffer[0] == 0x87):\n            return 1\n        else:\n            return 0  \n    except:\n        print("Please switch on Robot!")\n        while True:\n            pass                         \n                        \nexit = stop\ndelay = sleep\n_v = 90 # entspricht default Speed 50\n\n\n\n',
+  cputils: "# cputils.py\n# V1.1, Dec 5, 2018\n# Additional classes / global functions for Calliope\n\n\ndef cat(filename):\n    with open(filename) as f:\n        line = f.readline()\n        while line:\n            print(line[:-1])\n            line = f.readline()\n\n\nfrom math import asin, atan2, sqrt, degrees\n\ndef getPitch(a):\n    pitch = atan2(a[1], a[2])\n    return int(degrees(pitch))\n\ndef getRoll(a):\n    anorm = sqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2])\n    roll = asin(a[0] / anorm)\n    return int(degrees(roll))",
+  cpmike: "# cpmike.py\n\nfrom calliope_mini import pin3, running_time, sleep\n\n_click_time = running_time()\n\ndef isClicked(level = 10, rearm_time = 500):\n    global _click_time\n    if running_time() - _click_time < rearm_time:\n        sleep(10)\n        return False\n    v = pin3.read_analog()\n    if v < 518 - level:\n        _click_time = running_time()\n        return True\n    return False\n"
+};
+
+// microbit/libraries.json
+var libraries_default2 = {
+  huskylens: `_E='Invalid model_id. Must be number in range [0,4]'
+_D='Error: ID must be in range from 1 to 255.'
+_C=None
+_B=True
+_A=False
+from microbit import i2c,sleep,running_time
+import math
+_g1=['FaceRecognition','ObjectTracking','ObjectRecognition','LineTracking','ColorRecognition','TagRecognition','ObjectClassification','QRRecognition','BarcodeRecognition']
+class Request_Command:KNOCK=44;ALGORITHM=45;ALL=32;BLOCKS=33;BLOCKS_LEARNED=36;BLOCKS_OF_ID=39;ARROWS=34;ARROWS_LEARNED=37;ARROWS_OF_ID=40;LEARNED=35;ALL_OF_ID=38;LEARN=54;FORGET=55;CUSTOM_LABEL=47;CUSTOM_TEXT=52;CLEAR_TEXT=53;SAVE_MODEL=50;LOAD_MODEL=51;SAVE_PHOTO=48;SAVE_SCREENSHOT=57;IS_PRO=59;VERSION=60
+class Return_Code:ANY=1;OK=46;BUSY=61;INFO=41;BLOCK=42;ARROW=43;IS_PRO=59;NEED_PRO=62
+class Algorithm:FACE_RECOGNITION=0;OBJECT_TRACKING=1;OBJECT_RECOGNITION=2;LINE_TRACKING=3;COLOR_RECOGNITION=4;TAG_RECOGNITION=5;OBJECT_CLASSIFICATION=6;QR_RECOGNITION=7;BARCODE_RECOGNITION=8
+class Block:
+	def __init__(A,x,y,width,height,id):A.x=x;A.y=y;A.width=width;A.height=height;A.id=id
+	def _f2(A):return'Block: ID_'+str(A.id)+' Pos: ('+str(A.x)+' '+str(A.y)+') Size: ('+str(A.width)+' '+str(A.height)+')'
+class Arrow:
+	def __init__(A,x_tail,y_tail,x_head,y_head,id):A.x_tail=x_tail;A.y_tail=y_tail;A.x_head=x_head;A.y_head=y_head;A.id=id
+	def get_direction(A):
+		C=A.x_head-A.x_tail;D=A.y_head-A.y_tail;B=90-math.degrees(math.atan2(D,C))
+		if B<0:B=B+360
+		return int(B)
+	def _f2(A):return'Arrow: ID_'+str(A.id)+' ('+str(A.x_tail)+' '+str(A.y_tail)+')->('+str(A.x_head)+' '+str(A.y_head)+')'
+def byte_checksum(byte_list):return sum(byte_list)&255
+def hexify(byte_array):
+	A=byte_array
+	if len(A)==0:return''
+	return'0x'+''.join('{:02x}'.format(A)for A in A)
+class Huskylens:
+	I2C_ADDR=50
+	def __init__(A):A.learned_slot_count=0;A.id_slots={};A.id_names={};A.algorithm=Algorithm.OBJECT_TRACKING;A.clear_texts();A.pro_enabled=A.is_pro()
+	def initialize(A):
+		B=_A
+		for E in range(5):
+			A.knock();B,F=A.get_response(Return_Code.OK)
+			if B:break
+		if B>0:
+			C=A.clear_texts();D=A.set_algorithm(Algorithm.OBJECT_TRACKING)
+			if C and D:print('Initialization successful!');return _B
+			else:print("Initialization Failed. Couldn't change Algorithm");return _A
+		else:print('Initialization Failed. Please check connection to Huskylens.');return _A
+	def send_request(D,command,data=_C):
+		B=data;A=bytearray(b'U\\xaa\\x11\\x00\\x00');A[3]=0 if B is _C else len(B);A[4]=command
+		if B:
+			for C in B:A.append(C)
+		A.append(byte_checksum(A));i2c.write(Huskylens.I2C_ADDR,A);sleep(50)
+	def get_response(K,return_code=Return_Code.ANY,timeout=500):
+		C=return_code;A=bytearray(b'U\\x00\\x00\\x00\\x00');I=running_time()
+		while running_time()-I<timeout:
+			D=i2c.read(Huskylens.I2C_ADDR,1)[0]
+			if D==85:break
+		if D!=85:return-1,[]
+		for J in range(4):A[J+1]=i2c.read(Huskylens.I2C_ADDR,1)[0]
+		if A[0:3]!=b'U\\xaa\\x11':return-2,[]
+		E=A[3];F=A[4];B=[]
+		if E>0:G=i2c.read(Huskylens.I2C_ADDR,E+1);B=G[0:-1];H=G[-1]
+		else:H=ord(i2c.read(Huskylens.I2C_ADDR,1))
+		if H!=byte_checksum(list(A)+B):return-3,[]
+		if C==Return_Code.ANY or F==C:return F,B
+		else:return 0,B
+	def knock(A):A.send_request(Request_Command.KNOCK)
+	def set_algorithm(B,algorithm):
+		A=algorithm
+		if(A==Algorithm.QR_RECOGNITION or A==Algorithm.BARCODE_RECOGNITION)and not B.pro_enabled:raise RuntimeError('Error: Huskylens PRO version is required for algorithm ',_g1[A]);return _A
+		D=[A,0];B.send_request(Request_Command.ALGORITHM,D);C,E=B.get_response(Return_Code.OK)
+		if C>0:print('Current Algorithm:',_g1[A]);B.algorithm=A
+		return _B if C>0 else _A
+	def get_all(A):return A._f7(Request_Command.ALL)
+	def get_all_learned(A):return A._f7(Request_Command.LEARNED)
+	def get_all_with_id(A,id):
+		if id<=0 or id>255:raise RuntimeError(_D)
+		return A._f7(Request_Command.ALL_OF_ID,id)
+	def get_one(A):B=A._f7(Request_Command.ALL);return A._f8(B)
+	def get_one_learned(A):B=A._f7(Request_Command.LEARNED);return A._f8(B)
+	def get_one_with_id(A,id):
+		if id<=0 or id>255:raise RuntimeError(_D)
+		B=A._f7(Request_Command.ALL_OF_ID,id);return A._f8(B)
+	def attach_label(A,id,name):
+		B=name
+		if A.algorithm==Algorithm.OBJECT_TRACKING or A.algorithm==Algorithm.LINE_TRACKING:C=A._f6(1,B)
+		elif A.algorithm==Algorithm.FACE_RECOGNITION or A.algorithm==Algorithm.TAG_RECOGNITION or A.algorithm==Algorithm.OBJECT_CLASSIFICATION or A.algorithm==Algorithm.OBJECT_RECOGNITION:
+			D=A.id_slots.get(id)
+			if D==_C:raise RuntimeError("Can't attach a name to an unlearned ID number")
+			A.id_names[id]=B;C=_B
+			for E in D:F=A._f6(E,B);C=C and F>0
+		else:A.id_names[id]=B;C=A._f6(id,B)
+		return _B if C>0 else _A
+	def clear_labels(A):
+		A.id_names.clear()
+		for B in range(10):A._f6(B,'')
+	def add_text(E,text,position_x,position_y):
+		C=position_y;B=position_x;D=bytes(text,'utf-8')
+		if len(D)>19:raise RuntimeError('Custom Text must be less than 20 bytes long.')
+		if B>300 or B<0 or C<35 or C>240:raise RuntimeError("Custom Text can't be placed outside of screen pixel size.")
+		A=[len(D)];A.append(255 if B>255 else 0);A.append(B%255);A.append(240-C);A.extend(list(D));E.send_request(Request_Command.CUSTOM_TEXT,A);F,G=E.get_response(Return_Code.OK);return _B if F>0 else _A
+	def clear_texts(A):A.send_request(Request_Command.CLEAR_TEXT);B,C=A.get_response(Return_Code.OK);return _B if B>0 else _A
+	def learn(A,id,name=_C):
+		if id<=0 or id>255:raise RuntimeError('Parameter ID for learned item must be in range [0,255]')
+		if A.algorithm==Algorithm.OBJECT_TRACKING or A.algorithm==Algorithm.LINE_TRACKING:id=1
+		C=500
+		if A.algorithm==Algorithm.OBJECT_CLASSIFICATION:C=1000
+		A.send_request(Request_Command.LEARN,[id,0]);B,E=A.get_response(Return_Code.OK,C)
+		if B>0:
+			A.learned_slot_count+=1
+			if not id in A.id_slots:A.id_slots[id]=[A.learned_slot_count]
+			else:A.id_slots[id].append(A.learned_slot_count)
+			D=A.id_names.get(id)
+			if D!=_C:B=A.attach_label(A.learned_slot_count,D)
+			elif name!=_C:B=A.attach_label(id,name)
+		return _B if B>0 else _A
+	def forget(A):
+		A.send_request(Request_Command.FORGET);B,C=A.get_response(Return_Code.OK)
+		if B:A.learned_slot_count=0;A.id_slots.clear()
+		return _B if B else _A
+	def save_photo(A):A.send_request(Request_Command.SAVE_PHOTO);B,C=A.get_response(Return_Code.OK,1000);return _B if B>0 else _A
+	def save_screenshot(A):A.send_request(Request_Command.SAVE_SCREENSHOT);B,C=A.get_response(Return_Code.OK,1000);return _B if B>0 else _A
+	def save_model(B,model_id):
+		A=model_id
+		if A<0 or A>4:raise RuntimeError(_E)
+		B.send_request(Request_Command.SAVE_MODEL,[A,0]);C,D=B.get_response(Return_Code.OK,1000);print('Model saving: Check Huskylens screen for Result!\\n\\tModel name:',_g1[B.algorithm]+'_Backup_'+str(A)+'.conf');return _B if C>0 else _A
+	def load_model(B,model_id):
+		A=model_id
+		if A<0 or A>4:raise RuntimeError(_E)
+		B.send_request(Request_Command.LOAD_MODEL,[A,0]);C,D=B.get_response(Return_Code.OK,1000);print('Model Loading: Check Huskylens screen for Result!');return _B if C>0 else _A
+	def is_pro(A):A.send_request(Request_Command.IS_PRO);B,C=A.get_response(Return_Code.IS_PRO);return bool(C[0])if B>0 else _A
+	def _f6(C,id,name):
+		A=bytes(name,'utf-8')
+		if len(A)>19:raise RuntimeError('Custom Name must be less than 20 bytes long.')
+		B=[id,len(A)+1];B.extend(list(A));B.append(0);C.send_request(Request_Command.CUSTOM_LABEL,B);D,E=C.get_response(Return_Code.OK);return _B if D>0 else _A
+	def _f7(B,request_command,id=-1):
+		I=_C if id<0 else[id,0];B.send_request(request_command,I);G,H=B.get_response(Return_Code.INFO)
+		if not G:raise RuntimeError('Failed to request results. Got answer:'+str(G))
+		J=H[0]+H[1]*255;C=0;D=[]
+		while C<J:
+			E,A=B.get_response(Return_Code.ANY)
+			if E==Return_Code.BLOCK and B.algorithm!=3:K=A[0]+A[1]*255;L=240-A[2]+A[3]*255;M=A[4]+A[5]*255;N=A[6]+A[7]*255;F=A[8];O=Block(K,L,M,N,F);D.append(O);C+=1
+			elif E==Return_Code.ARROW:P=A[0]+A[1]*255;Q=240-A[2]+A[3]*255;R=A[4]+A[5]*255;S=240-A[6]+A[7]*255;F=A[8];T=Arrow(P,Q,R,S,F);D.append(T);C+=1
+			elif E==0:return[]
+		return D
+	def _f8(E,results):
+		C=_C;D=440
+		for A in results:
+			B=0
+			if E.algorithm==Algorithm.LINE_TRACKING:B=abs(A.x_tail+(A.x_tail-A.x_head)//2-160)+abs(A.y_tail+(A.y_tail-A.y_head)//2-120)
+			else:B=abs(A.x-160)+abs(A.y-120)
+			if B<D:C,D=A,B
+		return C`,
+  mbbitbot: "from microbit import*\nfrom neopixel import*\nfrom utime import ticks_us,sleep_us\n_g1=200\n_g2=12\n_g3=NeoPixel(pin13,_g2)\n_g4=0\n_g5=0\ndef w(leftforward,leftbackward,rightforward,rightbackward):\n	if leftforward>0 or rightforward>0:pin16.write_analog(leftforward+_g4);pin8.write_analog(leftbackward);pin14.write_analog(rightforward-_g4);pin12.write_analog(rightbackward)\n	elif leftbackward>0 or rightbackward>0:pin16.write_analog(leftforward);pin8.write_analog(leftbackward+_g4);pin14.write_analog(rightforward);pin12.write_analog(rightbackward-_g4)\n	elif leftforward==0 and rightforward==0 and leftbackward==0 and rightbackward==0:pin16.write_analog(0);pin8.write_analog(0);pin14.write_analog(0);pin12.write_analog(0)\ndef forward():w(_g1,0,_g1,0)\ndef backward():w(0,_g1,0,_g1)\ndef stop():w(0,0,0,0)\ndef right():w(0,_g1,_g1,0)\ndef left():w(_g1,0,0,_g1)\ndef set_led(pos,red,green,blue):_g3[pos]=red,green,blue;_g3.show()\ndef fill(red,green,blue):\n	for i in range(_g2):_g3[i]=red,green,blue\n	_g3.show()\ndef getDistance():\n	pin15.write_digital(1);sleep_us(10);pin15.write_digital(0);pin15.set_pull(pin15.NO_PULL)\n	while pin15.read_digital()==0:0\n	start=ticks_us()\n	while pin15.read_digital()==1:0\n	end=ticks_us();echo=end-start;distance=int(.01715*echo);return distance\ndef calibrate(offset,differential=0):global _g4;global _g5;global _g8;_g5=max(min(int(offset),50),-50);_g4=max(min(int(differential),50),-50);_g8=max(min(arcScaling,50),-50);setSpeed(_g1/1023*100)\ndef setSpeed(percent):global _g1;speed=percent/100*1023;speed+=_g5/100*1023;speed=min(max(speed,0),1023);_g1=speed\ndef getLine(bit):\n	mask=1<<bit;value=0\n	try:value=i2c.read(28,1)[0]\n	except OSError:pass\n	if value&mask>0:return 1\n	else:return 0\ndef getLight(index):\n	if index==0:return pin1.read_analog()\n	elif index==1:return pin2.read_analog()\ndef leftArc(radius):speed=_g1;inner_wheel_speed=speed*(radius/(radius+1));w(inner_wheel_speed,0,speed,0)\ndef rightArc(radius):speed=_g1;inner_wheel_speed=speed*(radius/(radius+1));w(speed,0,inner_wheel_speed,0)",
+  mbwait: `from microbit import button_a,button_b,pin0,pin1,pin2,pin_logo,sleep
+POLLING_DELAY=100
+def wait_for_press(button='any'):
+	A=button;button_a.was_pressed();button_b.was_pressed()
+	if A=='a'or A=='A':
+		while not button_a.was_pressed():sleep(POLLING_DELAY)
+	elif A=='b'or A=='B':
+		while not button_b.was_pressed():sleep(POLLING_DELAY)
+	elif A=='any'or A=='ANY':
+		while not button_a.was_pressed()and not button_b.was_pressed():sleep(POLLING_DELAY)
+	elif A=='both'or A=='ab'or A=='AB':
+		while not(button_a.is_pressed()and button_b.is_pressed()):sleep(POLLING_DELAY)
+		while button_a.is_pressed()or button_b.is_pressed():sleep(POLLING_DELAY)
+	else:raise RuntimeError("Button to wait for must be either: 'a', 'b', 'any' or 'both'.")
+def wait_for_touch(pin='logo'):
+	B=pin;A=pin_logo
+	if B=='pin0':A=pin0
+	elif B=='pin1':A=pin1
+	elif B=='pin2':A=pin2
+	elif B=='logo'or B=='pin_logo'or B=='pinLogo':A=pin_logo
+	else:raise RuntimeError("Argument 'pin' must be one of: 'pin_logo', 'pin0', 'pin1' or 'pin2'.")
+	A.set_touch_mode(A.CAPACITIVE)
+	while not A.is_touched():sleep(POLLING_DELAY)`,
+  mbled: `from neopixel import*
+import gc
+from microbit import pin2
+_g1=24
+_g2=NeoPixel(pin2,_g1)
+def fill(red,green,blue):
+	for i in range(_g1):_g2[i]=red,green,blue
+	_g2.show()
+def set_led(pos,red,green,blue):_g2[pos]=red,green,blue;_g2.show()
+def clear():_g2.clear()
+def shift_by(amount):
+	shifted_copy=[None]*_g1
+	for n in range(0,_g1):next_i=(n+amount)%_g1;shifted_copy[n]=_g2[next_i]
+	for n in range(0,_g1):_g2[n]=shifted_copy[n]
+	_g2.show()
+def lerp_RGB(r1,g1,b1,r2,g2,b2,percent):
+	if percent<.0 or percent>1e2:raise RuntimeError("Argument 'percent' must be between 0 and 100.")
+	red=max(0,min(255,round(r1+(r2-r1)*(percent/1e2))));green=max(0,min(255,round(g1+(g2-g1)*(percent/1e2))));blue=max(0,min(255,round(b1+(b2-b1)*(percent/1e2))));return red,green,blue`,
+  mbrobot_plus: "_A='Please switch on mbRobot!'\nfrom microbit import i2c,pin0,pin1,pin2,sleep\nimport machine,gc,music\n_g1=50\n_g2=.082\ndef w(d1,d2,s1,s2):\n	try:i2c.write(16,bytearray([0,d1,d2,s1,s2]))\n	except:print(_A)\ndef setSpeed(speed):\n	A=speed;global _g1\n	if A<30 and A!=0:setPID(1);_g1=A+30\n	elif A>=30 and A<32:setPID(0);_g1=A+2\n	else:setPID(0);_g1=A\ndef setPID(pd):i2c.write(16,bytearray([10,pd]))\ndef stop():setPID(0);w(0,0,0,0)\ndef resetSpeed():setPID(0);A=50\ndef forward():w(1,_g1,1,_g1)\ndef backward():w(2,_g1,2,_g1)\ndef left():A=1.825-.0175*_g1;w(2,int(_g1*A),1,int(_g1*A))\ndef right():A=1.825-.0175*_g1;w(1,int(_g1*A),2,int(_g1*A))\ndef rightArc(r):\n	A=abs(_g1)\n	if r<_g2:B=0\n	else:C=(r-_g2)/(r+_g2)*(1-A*A/200000);B=int(C*A)\n	if _g1>0:w(1,A,1,B)\n	else:w(2,B,2,A)\ndef leftArc(r):\n	A=abs(_g1)\n	if r<_g2:B=0\n	else:C=(r-_g2)/(r+_g2)*(1-A*A/200000);B=int(C*A)\n	if _g1>0:w(1,B,1,A)\n	else:w(2,A,2,B)\ndef getDistance():pin1.write_digital(1);pin1.write_digital(0);B=machine.time_pulse_us(pin2,1,50000);A=int(B/58.2-.5);return A if A>0 else 255\nclass Motor:\n	def __init__(A,id):A._id=2*id\n	def _f2(A,d,s):\n		try:i2c.write(16,bytearray([A._id,d,s]))\n		except:\n			print(_A)\n			while True:0\n	def rotate(A,s):\n		B=abs(s)\n		if s>0:A._f2(1,B)\n		elif s<0:A._f2(2,B)\n		else:A._f2(0,0)\nclass LEDState:OFF=0;RED=1;GREEN=2;YELLOW=3;BLUE=4;PINK=5;CYAN=6;WHITE=7\ndef setLED(state,stateR=None):B=state;A=stateR;A=A or B;i2c.write(16,bytearray([11,B,A]))\ndef setLEDLeft(state):i2c.write(16,bytearray([11,state]))\ndef setLEDRight(state):i2c.write(16,bytearray([12,state]))\ndef setAlarm(on):\n	if on:music.play(_g3,wait=False,loop=True)\n	else:music.stop()\ndef beep():music.pitch(2000,200,wait=False)\ndef ir_read_values_as_byte():i2c.write(16,bytearray([29]));A=i2c.read(16,1);return~A[0]\ndef setServo(S,Angle):\n	if S=='S1':A=20\n	if S=='S2':A=21\n	B=A,Angle;i2c.write(16,bytes(B))\nclass IR:L3=0;L2=1;L1=2;R1=3;R2=4;R3=5;masks=[1,2,4,8,16,32]\nclass IRSensor:\n	def __init__(A,index):A.index=index\n	def read_digital(A):B=ir_read_values_as_byte();return(B&IR.masks[A.index])>>A.index\nirLeft=IRSensor(IR.L1)\nirRight=IRSensor(IR.R1)\nirL1=IRSensor(IR.L1)\nirR1=IRSensor(IR.R1)\nirL2=IRSensor(IR.L2)\nirR2=IRSensor(IR.R2)\nirL3=IRSensor(IR.L3)\nirR3=IRSensor(IR.R3)\npin2.set_pull(pin2.NO_PULL)\nmotL=Motor(0)\nmotR=Motor(1)\ndelay=sleep\n_g3=['c6:1','r','c6,1','r','r','r']",
+  mbrobot: `from microbit import i2c,pin1,pin2,pin8,pin12,pin13,pin14,pin15,sleep
+import gc,machine,music,neopixel
+_g1=50
+_g2=40
+_g3=40
+_g4=bytearray(5)
+_g5=bytearray(2)
+_g6=bytes(b'\\x00\\x0b\\x0b\\x0c\\x0c\\r\\r\\r\\x0e\\x0e\\x0f\\x0f\\x0f\\x10\\x10\\x11\\x11\\x11\\x12\\x12\\x13\\x13\\x13\\x14\\x14\\x15\\x15\\x15\\x16\\x16\\x17\\x17\\x17\\x18\\x19\\x1a\\x1b\\x1b\\x1c\\x1d\\x1e\\x1f !"##$%&\\'()*++,-./0123468:<?ADFILOSVZ^bgkpu{\\x81\\x87\\x8d\\x94\\x9b\\xa3\\xab\\xb4\\xbd\\xc6\\xd0\\xdb\\xe6\\xf2\\xff')
+_g7=0
+_g8=0
+_g9=0
+_g10=neopixel.NeoPixel(pin15,4)
+np_rgb_pixels=_g10
+_g11=['c5:1','r','c5:1','r:3']
+_g12='Please connect to Maqueen robot and switch it on.'
+def _f1(dirL,powerL,dirR,powerR):
+	global _g4;_g4[1]=dirL;_g4[2]=powerL;_g4[3]=dirR;_g4[4]=powerR
+	try:i2c.write(16,_g4)
+	except:raise RuntimeError(_g12)
+def _f2(side,dir,power):
+	global _g4;_g4[1+side]=dir;_g4[2+side]=power
+	try:i2c.write(16,_g4)
+	except:raise RuntimeError(_g12)
+def _f3(speed,offset):return min(_g6[speed]+offset,255)
+def _f4(r):
+	A=_g1;B=int(r*100);D=A-max(B+20,40)
+	if D<=0:A=min(max(B+40,40),100)
+	C=0
+	if B>=4:E=(100-A)//2;C=(B*10-35)/(B*(11+(_g9-4)/10)+90+E);C=C*A
+	F=_f3(int(C),0);G=_f3(int(A),0);return F,G
+def calibrate(offset,differential=0,arcScaling=0):global _g8;global _g7;global _g9;_g7=max(min(int(offset),50),-10);_g8=max(min(int(differential),150),-150);_g9=max(min(arcScaling,50),-15);setSpeed(_g1)
+def setSpeed(speed):
+	global _g1;global _g2;global _g3;_g1=int(min(max(speed,0),100));A=_f3(_g1,_g7);B=round((1-_g1/100)*abs(_g8))if _g1>0 else 0;C=round(_g1/100*abs(_g8))
+	if _g8>0:_g2=A-C;_g3=A+B
+	else:_g2=A+B;_g3=A-C
+def resetSpeed():setSpeed(50)
+def stop():_f1(0,0,0,0)
+def forward():_f1(0,_g2,0,_g3)
+def backward():_f1(1,_g2,1,_g3)
+def left():_f1(1,_g2,0,_g3)
+def right():_f1(0,_g2,1,_g3)
+def rightArc(radius):A,B=_f4(radius);_f1(0,B,0,A)
+def leftArc(radius):A,B=_f4(radius);_f1(0,A,0,B)
+class Motor:
+	def __init__(A,side):A._side=side
+	def rotate(B,speed):A=speed;C=int(min(max(abs(A),0),100));D=_f3(C,_g7);E=0 if A>0 else 1;_f2(B._side,E,D)
+def setServo(servo,angle):
+	B=angle;A=servo;global _g5
+	if A=='S1'or A=='P0':_g5[0]=20
+	elif A=='S2'or A=='P1':_g5[0]=21
+	else:raise ValueError("Unknown Servo. Please use 'S1' or 'S2'.")
+	if B<0 or B>180:raise ValueError('Invalid angle. Must be between 0 and 180')
+	_g5[1]=B
+	try:i2c.write(16,_g5)
+	except:raise RuntimeError(_g12)
+class IRSensor:
+	def __init__(A,pin):A._pin=pin
+	def read_digital(A):return A._pin.read_digital()
+	def read_analog(A):raise NameError('Maqueen Lite does not support reading analog sensor values.')
+def getDistance():pin1.write_digital(1);pin1.write_digital(0);A=machine.time_pulse_us(pin2,1,50000);B=(A>>6)+(A>>10)+(A>>11)+(A>>12)+1;return max(min(B,500),0)if B>0 else 255
+def setLED(state,stateR=None):B=state;A=stateR;A=A if A!=None else B;pin8.write_digital(B);pin12.write_digital(A)
+def setLEDLeft(state):pin8.write_digital(state)
+def setLEDRight(state):pin12.write_digital(state)
+def fillRGB(red,green,blue):
+	for A in range(4):_g10[A]=red,green,blue
+	_g10.show()
+setRGB=fillRGB
+def clearRGB():_g10.clear()
+def posRGB(position,red,green,blue):
+	A=position
+	if A<0 or A>3:raise ValueError('invalid RGB-LED position. Must be 0,1,2 or 3.')
+	_g10[A]=red,green,blue;_g10.show()
+def setAlarm(state):
+	if state:music.play(_g11,wait=False,loop=True)
+	else:music.stop()
+def beep():music.pitch(440,200,wait=False)
+pin2.set_pull(pin2.NO_PULL)
+delay=sleep
+irLeft=IRSensor(pin13)
+irRight=IRSensor(pin14)
+motL=Motor(0)
+motR=Motor(2)`,
+  mbrobot_plusV3: `_B=True
+_A=False
+from microbit import i2c,sleep,running_time,pin0,pin1,pin2
+import neopixel,music
+_g1=bytearray(5)
+_g2=50
+_g3=50
+_g4=50
+_g5=bytes(b'\\x00\\x0f\\x10\\x10\\x11\\x12\\x12\\x13\\x13\\x14\\x15\\x15\\x16\\x16\\x17\\x18\\x18\\x19\\x19\\x1a\\x1b\\x1b\\x1c\\x1c\\x1d\\x1e\\x1e\\x1f\\x1f !!""#$$%%&\\')*+,-./0123456789:;;<>?ACEGIKMPRUX[^aeimquz\\x7f\\x84\\x89\\x8f\\x95\\x9b\\xa2\\xa9\\xb1\\xb9\\xc1\\xca\\xd3\\xdd\\xe8\\xf3\\xff')
+_g6=0
+_g7='Please connect to Maqueen robot and switch it on.'
+_g8=neopixel.NeoPixel(pin1,4)
+_g9=['c5:1','r','c5,1','r:3']
+_g10=bytearray(1)
+_g11=bytearray(2)
+_g12=16
+_g13=25
+_g14=131
+_g15=8
+def _f1(reg):_g10[0]=reg;i2c.write(_g12,_g10)
+def _f2(reg,val):_g11[0]=reg;_g11[1]=val;i2c.write(_g12,_g11)
+def _f3(dirL,powerL,dirR,powerR):
+	global _g1;_g1[1]=dirL;_g1[2]=powerL;_g1[3]=dirR;_g1[4]=powerR
+	try:i2c.write(16,_g1)
+	except:raise RuntimeError(_g7)
+def _f4(side,dir,power):
+	global _g1;_g1[1+side]=dir;_g1[2+side]=power
+	try:i2c.write(16,_g1)
+	except:raise RuntimeError(_g7)
+def setSpeed(speed):A=speed;global _g2;global _g3;global _g4;_g2=int(min(max(A,0),100));_g3=int(round(2.4*A+14));_g4=int(round(2.4*A+14))
+def resetSpeed():setSpeed(50)
+def stop():_f3(0,0,0,0)
+def forward():_f3(0,_g3,0,_g4)
+def backward():_f3(1,_g3,1,_g4)
+def left():_f3(1,_g3,0,_g4)
+def right():_f3(0,_g3,1,_g4)
+def _f5(speed,offset):return min(_g5[speed]+offset,255)
+def _f6(r):
+	B=int(r*100);A=_g2
+	if A<25:A=25
+	C=0
+	if B>5:
+		D=A*(3*_g6-A-9*B+220);E=-14*_g6+A-200+3*A-10*B-290;C=int(D/E)
+		if C<2:C=2 if B>15 else 1
+	F=_f5(int(C),0);G=_f5(int(A),0);return F,G
+def rightArc(radius):A,B=_f6(radius);_f3(0,B,0,A)
+def leftArc(radius):A,B=_f6(radius);_f3(0,A,0,B)
+class Motor:
+	def __init__(A,side):A._side=side
+	def rotate(B,speed):A=speed;C=int(min(max(abs(A),0),100));D=C;E=0 if A>0 else 1;_f4(B._side,E,D)
+def setServo(servo,angle):
+	D=angle;C=servo
+	if D<0 or D>180:raise ValueError('Invalid angle. Must be between 0 and 180')
+	if C in['P0','S1']:A=pin0
+	elif C in['P1','S2']:A=pin1
+	elif C in['P2','S3']:A=pin2
+	else:raise ValueError('Valid servo names: S1, S2, S3 or P0, P1, P2')
+	B=(_g14-_g13)*int(D);E=(B>>8)+(B>>10)+(B>>11)+(B>>12);F=_g13+E;A.set_analog_period(20);A.write_analog(F)
+class IRSensor:
+	_g19=bytes(b'\\x1d')
+	def __init__(A,index):A.index=index
+	def read_digital(A):
+		try:i2c.write(16,IRSensor._g19)
+		except:raise RuntimeError(_g7)
+		B=~i2c.read(16,1)[0];return(B&2**A.index)>>A.index
+	def read_analog(A):
+		try:_f1(29)
+		except:raise RuntimeError(_g7)
+		B=i2c.read(16,11);return B[2+2*A.index]<<8|B[1+2*A.index]
+def setLEDs(rgbl,rgbr):_f2(11,rgbl);_f2(12,rgbr)
+def setLED(state,stateR=None):B=state;A=stateR;A=A if A!=None else B;setLEDs(B,A)
+def setLEDLeft(rgbl):_f2(11,rgbl)
+def setLEDRight(rgbr):_f2(12,rgbr)
+def fillRGB(red,green,blue):_g8.clear();_g8.fill((red,green,blue));_g8.show()
+def setRGB(r,g,b):fillRGB(r,g,b)
+def clearRGB():_g8.clear()
+def posRGB(position,red,green,blue):
+	A=position
+	if A<0 or A>3:raise ValueError('invalid RGB-LED position. Must be 0,1,2 or 3.')
+	_g8[A]=red,green,blue;_g8.show()
+def setAlarm(state):
+	if state:music.play(_g9,wait=_A,loop=_B)
+	else:music.stop()
+def beep():music.pitch(440,200,wait=_A)
+def readLightIntensity(side):
+	_f1(78);A=i2c.read(16,4,repeat=_A)
+	if side==1:return A[0]<<8|A[1]
+	else:return A[2]<<8|A[3]
+def setPatrolSpeed(speed):_f2(63,speed)
+def setIntersectionRunMode(mode):_f2(69,mode)
+def setTRordRunMode(mode):_f2(70,mode)
+def setLeftOrStraightRunMode(mode):_f2(71,mode)
+def setRightOrStraightRunMode(mode):_f2(72,mode)
+def patrolling(patrol):
+	if patrol==1:A=5
+	else:A=8
+	_f2(60,A)
+def intersectionDetecting():_f1(61);A=i2c.read(16,1)[0];return A
+def pidControlDistance(dir,distance,interruption):
+	A=distance;C=2
+	if A>=6000:A=60000
+	_f2(64,dir);_f2(85,C);_f2(65,A>>8);_f2(66,A);_f2(60,6)
+	if interruption==1:
+		_f1(87);B=i2c.read(16,1)
+		while B[0]==1:sleep(10);B=i2c.read(16,1)
+def pidControlAngle(angle,interruption):
+	A=angle;D=2
+	if A>=0:B=1
+	else:B=2;A=-A
+	_f2(67,B);_f2(86,D);_f2(68,A);_f2(60,6)
+	if interruption==1:
+		_f1(87);C=i2c.read(16,1)
+		while C[0]==1:sleep(10);C=i2c.read(16,1)
+def pidControlStop():_f2(60,16)
+def readRealTimeSpeed(type):
+	_f2(76,1);A=i2c.read(16,2)
+	if type==1:return A[0]/5
+	else:return A[1]/5
+def _f7(cmd,args=[]):
+	B=len(args);C=B+1;A=bytearray(4+B);A[0]=85;A[1]=C>>8&255;A[2]=C&255;A[3]=cmd
+	for(D,E)in enumerate(args):A[4+D]=E
+	i2c.write(51,A)
+def _f8(expectedCommand):
+	F=1000;J=32;G=running_time();B=_A;A=None;C=_A
+	while running_time()-G<F and C==_A:
+		H=i2c.read(51,1)[0]
+		if H==83:C=_B
+		elif H==99:return B,A
+		sleep(16)
+	if C==_B:
+		D=i2c.read(51,3);K=D[0];L=D[1]|D[2]<<8
+		if K==expectedCommand:
+			B=_B;A=bytearray();E=L;M=min(E,J)
+			while running_time()-G<F and E>0:
+				try:I=i2c.read(51,M);A.extend(I);E-=len(I)
+				except:sleep(1)
+	return B,A
+def setLidarMode(mode=8):
+	A=mode;global _g15
+	if A not in[4,8]:raise ValueError('Lidar mode must be 4 or 8')
+	C='4x4'if A==4 else'8x8';print('Switching Lidar Mode to '+C+'.\\nPlease wait up to 10 seconds.');B=_A
+	for D in range(10):
+		_f7(1,[0,0,0,A]);B,E=_f8(1)
+		if B==_B:break
+		sleep(17)
+	if B:_g15=A;sleep(5000)
+	else:raise RuntimeError('Failed to switch Lidar Mode')
+def getDistanceAt(x_pos,y_pos):
+	_f7(3,[x_pos,y_pos]);B,A=_f8(3)
+	if B and len(A)>=2:C=(A[0]|A[1]<<8)//10;return C
+	else:return 1023
+def getDistanceList():
+	_f7(2);D,A=_f8(2)
+	if D and len(A)>=32:
+		B=[]
+		for C in range(0,len(A),2):E=A[C]|A[C+1]<<8;B.append(E//10)
+		return B
+	else:return[]
+def getDistance():global _g15;A=int(_g15/2);B=getDistanceAt(A-1,A-1);C=getDistanceAt(A,A-1);D=getDistanceAt(A-1,A);E=getDistanceAt(A,A);F=[B,C,D,E];return min(F)
+def getDistanceGrid():
+	_f7(2);G,A=_f8(2)
+	if G and len(A)>=32:
+		B=[];C=16 if len(A)==128 else 8
+		for D in range(0,len(A),C):
+			E=[]
+			for F in range(0,C,2):H=A[D+F]|A[D+F+1]<<8;E.append(H//10)
+			B.append(E)
+		return B
+	else:return[]
+def getDistanceColumn(index):
+	_f7(5,[index]);D,A=_f8(5)
+	if D and len(A)>=8:
+		B=[]
+		for C in range(0,len(A),2):E=A[C]|A[C+1]<<8;B.append(E//10)
+		return B
+	return[]
+def getDistanceRow(index):
+	_f7(6,[index]);D,A=_f8(6)
+	if D and len(A)>=8:
+		B=[]
+		for C in range(0,len(A),2):E=A[C]|A[C+1]<<8;B.append(E//10)
+		return B
+	return[]
+pin2.set_pull(pin2.NO_PULL)
+delay=sleep
+irR2=IRSensor(0)
+irR1=IRSensor(1)
+irRight=irR1
+irM=IRSensor(2)
+irL1=IRSensor(3)
+irLeft=irL1
+irL2=IRSensor(4)
+motL=Motor(0)
+motR=Motor(2)`,
+  mbmarsrover: "from microbit import*\nfrom neopixel import*\nimport utime\n_g1=[0,9,11,13,15]\n_g2=[0,0,0,0,0]\n_g3=False\n_g4=4\n_g5=NeoPixel(pin2,_g4)\n_g6=50\n_g7=40\n_g8=40\n_g9=0\n_g10=0\n_g11=0\n_g12=500\n_g13=29.1\ndef _f1(dirL,powerL,dirR,powerR):pinsL=pin1,pin12;pinsR=pin8,pin0;pinsL[dirL].write_analog(powerL);pinsL[1-dirL].write_analog(0);pinsR[dirR].write_analog(powerR);pinsR[1-dirR].write_analog(0)\ndef _f2(side,direction,power):\n	if side==0:pins=pin1,pin12\n	elif side==1:pins=pin8,pin0\n	pins[direction].write_analog(power);pins[1-direction].write_analog(0)\ndef _f3(r):\n	outerSpeed=_g6;rCm=int(r*100);threshold=outerSpeed-max(rCm+20,40)\n	if threshold<=0:outerSpeed=min(max(rCm+40,40),100)\n	reducedSpeed=0\n	if rCm>=4:flattening=(100-outerSpeed)//2;reducedSpeed=(rCm*10-35)/(rCm*(11+(_g11-4)/10)+90+flattening);reducedSpeed=reducedSpeed*outerSpeed\n	innerByte=_f6(int(reducedSpeed),0);outerByte=_f6(int(outerSpeed),0);return innerByte,outerByte\ndef _f4():global _g3;_g3=True;i2cData=bytearray(2);i2cData[0]=0;i2cData[1]=16;i2c.write(64,i2cData);i2cData[0]=254;i2cData[1]=101;i2c.write(64,i2cData);i2cData[0]=0;i2cData[1]=129;i2c.write(64,i2cData)\ndef _f5(pin,value,timeout):\n	start_time=utime.ticks_us()\n	while pin.read_digital()!=value:\n		if utime.ticks_diff(utime.ticks_us(),start_time)>timeout:return 0\n	start_time=utime.ticks_us()\n	while pin.read_digital()==value:\n		if utime.ticks_diff(utime.ticks_us(),start_time)>timeout:return 0\n	return utime.ticks_diff(utime.ticks_us(),start_time)\ndef calibrate(offset,differential=0,arcScaling=0):global _g10;global _g9;global _g11;_g9=max(min(int(offset),500),-50);_g10=max(min(int(differential),150),-150);_g11=max(min(arcScaling,50),-15);setSpeed(_g6)\ndef setSpeed(speed):\n	global _g6;global _g7;global _g8;_g6=int(min(max(speed,0),100));powerValue=_f6(_g6,_g9);boost=round((1-_g6/100)*abs(_g10))if _g6>0 else 0;reduction=round(_g6/100*abs(_g10))\n	if _g10>0:_g7=powerValue-reduction;_g8=powerValue+boost\n	else:_g7=powerValue+boost;_g8=powerValue-reduction\ndef _f6(speed,offset):analogValue=int(speed*1023/100)+offset;return min(max(analogValue,0),1023)\ndef stop():_f1(0,0,0,0)\ndef forward():_f1(0,_g7,0,_g8)\ndef backward():_f1(1,_g7,1,_g8)\ndef setServo(servoNum,angle):\n	global _g1,_g3\n	if _g3==False:_f4()\n	offsetNum=servoNum;servoNum=_g1[servoNum];i2cData=bytearray(2);start=0;angle=max(min(angle,90),-90);stop=396+(angle+_g2[offsetNum])*223/90;i2cData[0]=6+servoNum*4+2;i2cData[1]=int(stop)+255;i2c.write(64,i2cData);i2cData[0]=6+servoNum*4+3;i2cData[1]=int(stop)>>8;i2c.write(64,i2cData)\ndef clearServos():setServo(0,0);setServo(1,0);setServo(2,0);setServo(3,0);setServo(4,0);sleep(500)\ndef steer(angle):angle=max(min(angle,45),-45);setServo(1,angle);setServo(2,-angle);setServo(3,-angle);setServo(4,angle);sleep(500)\ndef setLED(pos,red,green,blue):_g5[pos]=red,green,blue;_g5.show()\ndef fill(red,green,blue):\n	for i in range(_g4):_g5[i]=red,green,blue\n	_g5.show()\ndef getDistance():\n	trig=pin13;echo=pin13;d=10;trig.set_pull(trig.NO_PULL)\n	for _ in range(10):\n		trig.write_digital(0);utime.sleep_us(2);trig.write_digital(1);utime.sleep_us(10);trig.write_digital(0);duration=_f5(echo,1,_g12*_g13)\n		if duration>0:d=duration;break\n	return round(d/_g13)\ndef calibrateServo(pos,angleDifferential):global _g2;angleDifferential=max(min(angleDifferential,90),-90);_g2[pos]=angleDifferential;clearServos()",
+  mbrobotmot: "import gc\nfrom microbit import i2c,pin1,pin2,pin8,pin12,pin13,pin14,sleep\nimport machine\nclass Motor:\n	def __init__(A,id):A._id=2*id\n	def rotate(A,s):\n		B=abs(s)\n		if s>0:A._f2(0,B)\n		elif s<0:A._f2(1,B)\n		else:A._f2(0,0)\n	def _f2(A,d,s):\n		try:i2c.write(16,bytearray([A._id,d,s]))\n		except:\n			print('Please switch on mbRobot!')\n			while True:0\ndelay=sleep\ndef getDistance():pin1.write_digital(1);pin1.write_digital(0);B=machine.time_pulse_us(pin2,1,50000);A=int(B/58.2+.5);return A if A>0 else 255\ndef setLED(on):pin8.write_digital(on);pin12.write_digital(on)\npin2.set_pull(pin2.NO_PULL)\nirLeft=pin13\nirRight=pin14\nledLeft=pin8\nledRight=pin12\nmotL=Motor(0)\nmotR=Motor(1)",
+  controller: "_B=False\n_A=1.\nfrom microbit import run_every,pin13,pin14,pin15,pin16,pin8,pin1,pin2,pin12,button_a,button_b,sleep\nclass _Controller_Button:\n	def __init__(A,pin):B=pin;A._pin=B;A.previous_state=0;A._press_count=0;A._pressed_before=_B;B.set_pull(B.PULL_UP)\n	def _f3(A):\n		B=1-A._pin.read_digital()\n		if B==1 and A.previous_state==0:A._press_count+=1;A._pressed_before=True\n		A.previous_state=B\n	def is_pressed(A):return _B if A._pin.read_digital()else True\n	def was_pressed(A):B=A._pressed_before;A._pressed_before=_B;return B\n	def get_presses(A):B=A._press_count;A._press_count=0;return B\nclass _Controller_Analog_Stick:\n	def __init__(A,pinX,pinY,pinZ):A.pin_x=pinX;A.pin_y=pinY;A.button_z=_Controller_Button(pinZ);A.dead_zone=.01;A.center_x=0;A.center_y=0;A.min_x=-1;A.max_x=1;A.min_y=-1;A.max_y=1\n	def calibrate(A,dead_zone,center_x=.0,center_y=.0,x_min=-_A,x_max=_A,y_min=-_A,y_max=_A):A.dead_zone=min(.2,max(.01,dead_zone));A.center_x=min(.4,max(-.4,center_x));A.center_y=min(.5,max(-.5,center_y));A.min_x=min(-.5,max(-_A,x_min));A.max_x=min(_A,max(.5,x_max));A.min_y=min(-.5,max(-_A,y_min));A.max_y=min(_A,max(.5,y_max))\n	def _f5(C,value,center,v_min,v_max):\n		B=center;A=value-_A-B\n		if abs(A)-C.dead_zone/2.>.0:\n			if A<.0:A=A/abs(v_min-B)\n			else:A=A/abs(v_max-B)\n		A=min(_A,max(-_A,A));A=.0 if abs(A)<=C.dead_zone else A;return A\n	def get_x(A):B=A.pin_x.read_analog()/512.;C=A._f5(B,A.center_x,A.min_x,A.max_x);return C\n	def get_y(A):B=A.pin_y.read_analog()/512.;C=A._f5(B,A.center_y,A.min_y,A.max_y);return C\n	def get_z(A):return 1 if A.button_z.is_pressed()else 0\n	def is_pressed(A):return A.button_z.is_pressed()\n	def was_pressed(A):return A.button_z.was_pressed()\n	def get_presses(A):return A.button_z.get_presses()\ndef vibrate(state):pin12.write_digital(state)\njoystick=_Controller_Analog_Stick(pin1,pin2,pin8)\nbutton_z=joystick.button_z\nbutton_c=_Controller_Button(pin13)\nbutton_green=button_c\nbutton_d=_Controller_Button(pin14)\nbutton_yellow=button_d\nbutton_e=_Controller_Button(pin15)\nbutton_red=button_e\nbutton_f=_Controller_Button(pin16)\nbutton_blue=button_f\ntrigger_left=button_a\ntrigger_right=button_b\ndef _f1():global button_c;global button_d;global button_e;global button_f;global joystick;button_c._f3();button_d._f3();button_e._f3();button_f._f3();joystick.button_z._f3()\nrun_every(_f1,days=0,h=0,min=0,s=0,ms=33)",
+  mbxgo: "from microbit import*\n_g1=50\n_g2=False\n_g3=pin14\n_g4=pin13\ndef checkInit(func):\n	def wrapper(*args,**kwargs):\n		global _g2\n		if not _g2:init_xgo_serial(_g3,_g4)\n		return func(*args,**kwargs)\n	return wrapper\ndef _f1(speed,in_min,in_max,out_min,out_max):return(speed-in_min)*(out_max-out_min)//(in_max-in_min)+out_min\n@checkInit\ndef _f2(direction,speed):\n	move_buffer=bytearray(9);move_buffer[0]=85;move_buffer[1]=0;move_buffer[2]=9;move_buffer[3]=0;move_buffer[7]=0;move_buffer[8]=170;speed=max(0,min(100,speed))\n	if direction==0:move_buffer[4]=48;move_buffer[5]=_f1(speed,0,100,128,255)\n	elif direction==1:move_buffer[4]=48;move_buffer[5]=_f1(speed,0,100,128,0)\n	elif direction==2:move_buffer[4]=49;move_buffer[5]=_f1(speed,0,100,128,0)\n	elif direction==3:move_buffer[4]=49;move_buffer[5]=_f1(speed,0,100,128,255)\n	move_buffer[6]=~(9+move_buffer[4]+move_buffer[5])&255;uart.write(move_buffer)\n@checkInit\ndef clampX(milimeters=50):clampBuffer=bytearray(9);clampBuffer[0]=85;clampBuffer[1]=0;clampBuffer[2]=9;clampBuffer[3]=0;clampBuffer[4]=115;clampBuffer[7]=0;clampBuffer[8]=170;clampBuffer[5]=milimeters;clampBuffer[6]=~(124+clampBuffer[5])&255;uart.write(clampBuffer);sleep(1000)\n@checkInit\ndef clampZ(milimeters=50):clampBuffer=bytearray(9);clampBuffer[0]=85;clampBuffer[1]=0;clampBuffer[2]=9;clampBuffer[3]=0;clampBuffer[4]=116;clampBuffer[7]=0;clampBuffer[8]=170;clampBuffer[5]=milimeters;clampBuffer[6]=~(125+clampBuffer[5])&255;uart.write(clampBuffer);sleep(1000)\n@checkInit\ndef clamp(force):clampBuffer=bytearray(9);clampBuffer[0]=85;clampBuffer[1]=0;clampBuffer[2]=9;clampBuffer[3]=0;clampBuffer[4]=113;clampBuffer[7]=0;clampBuffer[8]=170;clampBuffer[5]=force;clampBuffer[6]=~(122+clampBuffer[5])&255;uart.write(clampBuffer);sleep(1000)\ndef init_xgo_serial(tx_pin,rx_pin,baudrate=115200):global _g2;uart.init(baudrate=baudrate,tx=tx_pin,rx=rx_pin);init_action();_g2=True\ndef init_action():commands_buffer=bytearray(9);commands_buffer[0]=85;commands_buffer[1]=0;commands_buffer[2]=9;commands_buffer[3]=0;commands_buffer[4]=62;commands_buffer[5]=255;commands_buffer[6]=185;commands_buffer[7]=0;commands_buffer[8]=170;uart.write(commands_buffer);sleep(2000)\n@checkInit\ndef action(id):commands_buffer=bytearray(9);commands_buffer[0]=85;commands_buffer[1]=0;commands_buffer[2]=9;commands_buffer[3]=0;commands_buffer[4]=62;commands_buffer[5]=id;commands_buffer[6]=~(71+id)&255;commands_buffer[7]=0;commands_buffer[8]=170;uart.write(commands_buffer);sleep(2000)\ndef changeInit(tx,rx):global _g3;global _g4;_g3=tx;_g4=rx;init_xgo_serial(_g3,_g4)\n@checkInit\ndef setSpeed(speed):global _g1;_g1=speed\ndef forward():_f2(0,_g1)\ndef backward():_f2(1,_g1)\ndef left():_f2(2,_g1)\ndef right():_f2(3,_g1)",
+  mbglow: `from microbit import*
+_g1=0
+_g2=0
+_g3=0
+_g4=50
+_g5=True
+_g6=False
+def makeGlow():global _g6;display.set_pixel(2,2,9);_g6=True
+def clear():display.clear()
+def forward():_f1(1)
+def back():_f1(-1)
+def right(angle):global _g3;_g3=(_g3+angle)%360
+def left(angle):right(-angle)
+def setPos(x,y):global _g1,_g2;_g1=x;_g2=y;_f2()
+def getPos():return _g1,_g2
+def setSpeed(speed):global _g4;_g4=speed
+def showTrace(enable):global _g5;_g5=enable
+def isLit():return display.get_pixel(_g1+2,4-(_g2+2))==9
+def _f1(s):
+	global _g1,_g2;sleep(2000-_g4*20);d=_g3//45
+	if d in[1,2,3]:_g1+=s
+	if d in[5,6,7]:_g1-=s
+	if d in[0,1,7]:_g2+=s
+	if d in[3,4,5]:_g2-=s
+	_f2()
+def _f2():
+	if not _g6:print('Use "makeGlow()" to create a Glow.');raise Exception('Glow not initialized.')
+	if not _g5:display.clear()
+	if-2<=_g1<=2 and-2<=_g2<=2:display.set_pixel(_g1+2,4-(_g2+2),9)`,
+  mbthetabot: `from microbit import*
+from utime import ticks_us,sleep_us
+from neopixel import*
+_g1=50
+_g2=40
+_g3=40
+_g4=bytes(b'\\x00\\x0b\\x0b\\x0c\\x0c\\r\\r\\r\\x0e\\x0e\\x0f\\x0f\\x0f\\x10\\x10\\x11\\x11\\x11\\x12\\x12\\x13\\x13\\x13\\x14\\x14\\x15\\x15\\x15\\x16\\x16\\x17\\x17\\x17\\x18\\x19\\x1a\\x1b\\x1b\\x1c\\x1d\\x1e\\x1f !"##$%&\\'()*++,-./0123468:<?ADFILOSVZ^bgkpu{\\x81\\x87\\x8d\\x94\\x9b\\xa3\\xab\\xb4\\xbd\\xc6\\xd0\\xdb\\xe6\\xf2\\xff')
+_g5=0
+_g6=0
+_g7=0
+_g8=34
+_g9=14
+def _f1(dirL,powerL,dirR,powerR):pinsL=pin14,pin13;pinsR=pin16,pin15;pinsL[dirL].write_analog(powerL);pinsL[1-dirL].write_analog(0);pinsR[dirR].write_analog(powerR);pinsR[1-dirR].write_analog(0)
+def _f2(side,direction,power):
+	if side==0:pins=pin14,pin13
+	elif side==2:pins=pin16,pin15
+	pins[direction].write_analog(power);pins[1-direction].write_analog(0)
+def _f3(r):
+	outerSpeed=_g1;rCm=int(r*100);threshold=outerSpeed-max(rCm+20,40)
+	if threshold<=0:outerSpeed=min(max(rCm+40,40),100)
+	reducedSpeed=0
+	if rCm>=4:flattening=(100-outerSpeed)//2;reducedSpeed=(rCm*10-35)/(rCm*(11+(_g7-4)/10)+90+flattening);reducedSpeed=reducedSpeed*outerSpeed
+	innerByte=_f4(int(reducedSpeed),0);outerByte=_f4(int(outerSpeed),0);return innerByte,outerByte
+def calibrate(offset,differential=0,arcScaling=0):global _g6;global _g5;global _g7;_g5=max(min(int(offset),150),-10);_g6=max(min(int(differential),150),-150);_g7=max(min(arcScaling,50),-15);setSpeed(_g1)
+def setSpeed(speed):
+	global _g1;global _g2;global _g3;_g1=int(min(max(speed,0),100));powerByte=_f4(_g1,_g5);boost=round((1-_g1/100)*abs(_g6))if _g1>0 else 0;reduction=round(_g1/100*abs(_g6))
+	if _g6>0:_g2=powerByte-reduction;_g3=powerByte+boost
+	else:_g2=powerByte+boost;_g3=powerByte-reduction
+def _f4(speed,offset):speedIndex=int(speed*(len(_g4)-1)/100);return min(_g4[speedIndex]+offset,1023)
+def stop():_f1(0,0,0,0)
+def forward():_f1(0,_g2,0,_g3)
+def backward():_f1(1,_g2,1,_g3)
+def left():_f1(1,_g2,0,_g3)
+def right():_f1(0,_g2,1,_g3)
+def rightArc(radius):inner,outer=_f3(radius);_f1(0,outer,0,inner)
+def leftArc(radius):inner,outer=_f3(radius);_f1(0,inner,0,outer)
+def getDistance():
+	pin12.write_digital(1);sleep_us(10);pin12.write_digital(0);pin12.set_pull(pin15.NO_PULL)
+	while pin12.read_digital()==0:0
+	start=ticks_us()
+	while pin12.read_digital()==1:0
+	end=ticks_us();echo=end-start;distance=int(.01715*echo);return distance
+def setLED(position,red,green,blue):global _g8;i2c_data=bytearray(5);i2c_data[0]=1;i2c_data[1]=position;i2c_data[2]=red;i2c_data[3]=green;i2c_data[4]=blue;i2c.write(_g8,i2c_data)
+def fill(red,green,blue):
+	for position in range(_g9):setLED(position,red,green,blue)
+def readLine(side):i2c.write(_g8,bytearray([side+1]),False);result=i2c.read(_g8,2);result=result[0]+(result[1]<<8);return result
+def readLight(side):i2c.write(_g8,bytearray([side+3]),False);result=i2c.read(_g8,2);result=result[0]+(result[1]<<8);return result`,
+  mbrobot_legacy: "import gc\nfrom microbit import i2c,pin1,pin2,pin8,pin12,pin13,pin14,sleep\nimport machine\n_g1=.097\ndef w(d1,d2,s1,s2):\n	try:i2c.write(16,bytearray([0,d1,s1]));i2c.write(16,bytearray([2,d2,s2]))\n	except:\n		print('Please switch on mbRobot!')\n		while True:0\ndef setSpeed(speed):\n	A=speed;global _g2\n	if A<20:_g2=A+5\n	else:_g2=A\ndef forward():w(0,0,_g2,_g2)\ndef backward():w(1,1,_g2,_g2)\ndef stop():w(0,0,0,0)\ndef right():w(0 if _g2>0 else 1,1 if _g2>0 else 0,int(_g2*.9),int(_g2*.9))\ndef left():w(1 if _g2>0 else 0,0 if _g2>0 else 1,int(_g2*.9),int(_g2*.9))\ndef rightArc(r):\n	A=abs(_g2)\n	if r<_g1:B=0\n	else:C=(r-_g1)/(r+_g1)*(1-A*A/200000);B=int(C*A)\n	if _g2>0:w(0,0,A,B)\n	else:w(1,1,B,A)\ndef leftArc(r):\n	A=abs(_g2)\n	if r<_g1:B=0\n	else:C=(r-_g1)/(r+_g1)*(1-A*A/200000);B=int(C*A)\n	if _g2>0:w(0,0,B,A)\n	else:w(1,1,A,B)\nexit=stop\ndelay=sleep\ndef getDistance():pin1.write_digital(1);pin1.write_digital(0);B=machine.time_pulse_us(pin2,1,50000);A=int(B/58.2+.5);return A if A>0 else 255\ndef setLED(on):pin8.write_digital(on);pin12.write_digital(on)\ndef setServo(S,Angle):\n	if S=='S1':A=20\n	if S=='S2':A=21\n	B=A,Angle;i2c.write(16,bytes(B))\npin2.set_pull(pin2.NO_PULL)\n_g2=50\nirLeft=pin13\nirRight=pin14\nledLeft=pin8\nledRight=pin12\nforward()",
+  mbalarm: "import music\n_g1=['c6:1','r','c6,1','r','r','r']\ndef setAlarm(on):\n	if on:music.play(_g1,wait=False,loop=True)\n	else:music.stop()\ndef beep():music.pitch(2000,200,wait=False)",
+  mbminibit: "from microbit import*\nfrom neopixel import*\nimport utime\n_g1=4\n_g2=NeoPixel(pin13,_g1)\n_g3=50\n_g4=90\n_g5=90\n_g6=0\n_g7=0\n_g8=0\n_g9=500\n_g10=29.1\ndef _f1(dirL,powerL,dirR,powerR):pin8.write_analog(powerL if dirL==1 else 0);pin12.write_analog(0 if dirL==1 else powerL);pin16.write_analog(0 if dirR==1 else powerR);pin14.write_analog(powerR if dirR==1 else 0)\ndef _f2(pin,value,timeout):\n	start_time=utime.ticks_us()\n	while pin.read_digital()!=value:\n		if utime.ticks_diff(utime.ticks_us(),start_time)>timeout:return 0\n	start_time=utime.ticks_us()\n	while pin.read_digital()==value:\n		if utime.ticks_diff(utime.ticks_us(),start_time)>timeout:return 0\n	return utime.ticks_diff(utime.ticks_us(),start_time)\ndef _f3(r):\n	outerSpeed=_g3\n	if r>0:innerSpeed=outerSpeed*max(.2,min(1,1-r/100))\n	else:innerSpeed=0\n	innerByte=_f4(int(innerSpeed),0);outerByte=_f4(int(outerSpeed),0);return innerByte,outerByte\ndef _f4(speed,offset):analogValue=int(speed*255/100)+offset;return min(max(analogValue,0),255)\ndef calibrate(offset,differential=0,arcScaling=0):global _g7;global _g6;global _g8;_g6=max(min(int(offset),100),-10);_g7=max(min(int(differential),150),-150);_g8=max(min(arcScaling,50),-15);setSpeed(_g3)\ndef setSpeed(speed):\n	global _g3;global _g4;global _g5;_g3=int(min(max(speed,0),100));powerByte=_f4(_g3,_g6);boost=round((1-_g3/100)*abs(_g7))if _g3>0 else 0;reduction=round(_g3/100*abs(_g7))\n	if _g7>0:_g4=powerByte-reduction;_g5=powerByte+boost\n	else:_g4=powerByte+boost;_g5=powerByte-reduction\ndef stop():_f1(0,0,0,0)\ndef forward():_f1(0,_g4,0,_g5)\ndef backward():_f1(1,_g4,1,_g5)\ndef left():_f1(1,_g4,0,_g5)\ndef right():_f1(0,_g4,1,_g5)\ndef rightArc(radius):inner,outer=_f3(radius);_f1(0,outer,0,inner)\ndef leftArc(radius):inner,outer=_f3(radius);_f1(0,inner,0,outer)\ndef setLED(pos,red,green,blue):_g2[pos]=red,green,blue;_g2.show()\ndef fill(red,green,blue):\n	for i in range(_g1):_g2[i]=red,green,blue\n	_g2.show()\ndef getDistance():\n	trig=pin15;echo=pin15;d=10;trig.set_pull(trig.NO_PULL)\n	for _ in range(10):\n		trig.write_digital(0);utime.sleep_us(2);trig.write_digital(1);utime.sleep_us(10);trig.write_digital(0);duration=_f2(echo,1,_g9*_g10)\n		if duration>0:d=duration;break\n	return round(d/_g10)",
+  mbrobot_plusV2: `from microbit import i2c,pin0,pin1,pin2,pin13,pin14,pin15,sleep
+import gc,machine,music,neopixel
+_g1=50
+_g2=50
+_g3=50
+_g4=bytearray(5)
+_g5=bytes(b'\\x00\\x0f\\x10\\x10\\x11\\x12\\x12\\x13\\x13\\x14\\x15\\x15\\x16\\x16\\x17\\x18\\x18\\x19\\x19\\x1a\\x1b\\x1b\\x1c\\x1c\\x1d\\x1e\\x1e\\x1f\\x1f !!""#$$%%&\\')*+,-./0123456789:;;<>?ACEGIKMPRUX[^aeimquz\\x7f\\x84\\x89\\x8f\\x95\\x9b\\xa2\\xa9\\xb1\\xb9\\xc1\\xca\\xd3\\xdd\\xe8\\xf3\\xff')
+_g6=0
+_g7=0
+_g8=0
+_g9=25
+_g10=131
+_g11=bytearray(b'\\x0b\\x00\\x00')
+_g12=neopixel.NeoPixel(pin15,4)
+np_rgb_pixels=_g12
+_g13=['c5:1','r','c5,1','r:3']
+_g14='Please connect to Maqueen robot and switch it on.'
+def _f1(dirL,powerL,dirR,powerR):
+	global _g4;_g4[1]=dirL;_g4[2]=powerL;_g4[3]=dirR;_g4[4]=powerR
+	try:i2c.write(16,_g4)
+	except:raise RuntimeError(_g14)
+def _f2(side,dir,power):
+	global _g4;_g4[1+side]=dir;_g4[2+side]=power
+	try:i2c.write(16,_g4)
+	except:raise RuntimeError(_g14)
+def _f3(speed,offset):return min(_g5[speed]+offset,255)
+def _f4(r):
+	B=int(r*100);A=_g1
+	if A<25:A=25
+	H=min(abs(A-70),20)/20;C=0
+	if B>5:
+		D=A*(3*_g8-A-9*B+220);E=-14*_g8+A-200+3*A-10*B-290;C=int(D/E)
+		if C<2:C=2 if B>15 else 1
+	F=_f3(int(C),0);G=_f3(int(A),0);return F,G
+def calibrate(offset,differential=0,arcScaling=0):global _g7;global _g6;global _g8;_g6=max(min(int(offset),50),-14);_g7=max(min(int(differential),150),-150);_g8=max(min(arcScaling,50),-50);setSpeed(_g1)
+def setSpeed(speed):
+	global _g1;global _g2;global _g3;_g1=int(min(max(speed,0),100));A=_f3(_g1,_g6);B=round((1-_g1/100)*abs(_g7))if _g1>0 else 0;C=round(_g1/100*abs(_g7))
+	if _g7>0:_g2=A-C;_g3=A+B
+	else:_g2=A+B;_g3=A-C
+def resetSpeed():setSpeed(50)
+def stop():_f1(0,0,0,0)
+def forward():_f1(0,_g2,0,_g3)
+def backward():_f1(1,_g2,1,_g3)
+def left():_f1(1,_g2,0,_g3)
+def right():_f1(0,_g2,1,_g3)
+def rightArc(radius):A,B=_f4(radius);_f1(0,B,0,A)
+def leftArc(radius):A,B=_f4(radius);_f1(0,A,0,B)
+class Motor:
+	def __init__(A,side):A._side=side
+	def rotate(B,speed):A=speed;C=int(min(max(abs(A),0),100));D=_f3(C,_g6);E=0 if A>0 else 1;_f2(B._side,E,D)
+def setServo(servo,angle):
+	D=angle;A=servo
+	if A=='P0'or A=='S1':B=pin0
+	elif A=='P1'or A=='S2':B=pin1
+	elif A=='P2':B=pin2
+	else:raise ValueError("Unknown Servo. Please use 'P0', 'P1' or 'P2'.")
+	if D<0 or D>180:raise ValueError('Invalid angle. Must be between 0 and 180')
+	C=(_g10-_g9)*int(D);E=(C>>8)+(C>>10)+(C>>11)+(C>>12);F=_g9+E;B.set_analog_period(20);B.write_analog(F)
+def setMinAngleVal(duty):global _g9;_g9=int(duty)
+def setMaxAngleVal(duty):global _g10;_g10=int(duty)
+class IRSensor:
+	_g21=bytes(b'\\x1d')
+	def __init__(A,index):A._index=index
+	def read_digital(A):
+		try:i2c.write(16,IRSensor._g21)
+		except:raise RuntimeError(_g14)
+		B=~i2c.read(16,1)[0];return(B&2**A._index)>>A._index
+	def read_analog(A):
+		try:i2c.write(16,IRSensor._g21)
+		except:raise RuntimeError(_g14)
+		B=i2c.read(16,11);return B[1+A._index*2]
+def ir_read_values_as_byte():i2c.write(16,bytearray([29]));A=i2c.read(16,1);return~A[0]
+def getDistance():pin13.write_digital(1);pin13.write_digital(0);A=machine.time_pulse_us(pin14,1,50000);B=(A>>6)+(A>>10)+(A>>11)+(A>>12)+1;return max(min(B,500),0)if B>0 else 255
+def setLED(state,stateR=None):B=state;A=stateR;global _g11;A=A if A!=None else B;_g11[1]=B;_g11[2]=A;i2c.write(16,_g11)
+def setLEDLeft(state):global _g11;_g11[1]=state;i2c.write(16,_g11)
+def setLEDRight(state):global _g11;_g11[2]=state;i2c.write(16,_g11)
+def fillRGB(red,green,blue):
+	for A in range(4):_g12[A]=red,green,blue
+	_g12.show()
+setRGB=fillRGB
+def clearRGB():_g12.clear()
+def posRGB(position,red,green,blue):
+	A=position
+	if A<0 or A>3:raise ValueError('invalid RGB-LED position. Must be 0,1,2 or 3.')
+	_g12[A]=red,green,blue;_g12.show()
+def setAlarm(state):
+	if state:music.play(_g13,wait=False,loop=True)
+	else:music.stop()
+def beep():music.pitch(440,200,wait=False)
+class LEDState:ON=1;OFF=0;RED=1
+class IR:R2=0;R1=1;M=2;L1=3;L2=4;masks=[1,2,4,8,16]
+pin2.set_pull(pin2.NO_PULL)
+delay=sleep
+irR2=IRSensor(0)
+irR1=IRSensor(1)
+irRight=irR1
+irM=IRSensor(2)
+irL1=IRSensor(3)
+irLeft=irL1
+irL2=IRSensor(4)
+motL=Motor(0)
+motR=Motor(2)`
+};
+
+// microbit/libraries.raw.json
+var libraries_raw_default2 = {
+  huskylens: `# For Huskylens (PRO inclusive) with Firmware version 0.5.1Norm or 0.5.3Alpha1.
+from microbit import i2c, sleep, running_time
+import math
+
+_algorithm_names = ["FaceRecognition", 
+                    "ObjectTracking", 
+                    "ObjectRecognition", 
+                    "LineTracking", 
+                    "ColorRecognition", 
+                    "TagRecognition", 
+                    "ObjectClassification",
+                    "QRRecognition",
+                    "BarcodeRecognition"]
+
+class Request_Command:
+    # """Command Codes that can be sent to the Huskylens.""""
+    KNOCK = 0x2C
+    ALGORITHM = 0x2D
+    ALL = 0x20
+    BLOCKS = 0x21
+    BLOCKS_LEARNED = 0x24
+    BLOCKS_OF_ID = 0x27
+    ARROWS = 0x22
+    ARROWS_LEARNED = 0x25
+    ARROWS_OF_ID = 0x28
+    LEARNED = 0x23
+    ALL_OF_ID = 0x26
+    LEARN = 0x36
+    FORGET = 0x37
+    CUSTOM_LABEL = 0x2F
+    CUSTOM_TEXT = 0x34
+    CLEAR_TEXT = 0x35
+    SAVE_MODEL = 0x32
+    LOAD_MODEL = 0x33
+    SAVE_PHOTO = 0x30
+    SAVE_SCREENSHOT = 0x39
+    IS_PRO = 0x3B
+    VERSION = 0x3C
+
+class Return_Code:
+    # """Return codes that identify answer types, received from the Huskylens."""
+    ANY = 0x01 # custom command for "don't care", never returned by Huskylens
+    OK = 0x2E
+    BUSY = 0x3D
+    INFO = 0x29
+    BLOCK = 0x2A
+    ARROW = 0x2B
+    IS_PRO = 0x3B
+    NEED_PRO = 0x3E
+
+class Algorithm:
+    FACE_RECOGNITION = 0
+    OBJECT_TRACKING = 1
+    OBJECT_RECOGNITION = 2
+    LINE_TRACKING = 3
+    COLOR_RECOGNITION = 4
+    TAG_RECOGNITION = 5
+    OBJECT_CLASSIFICATION = 6
+    QR_RECOGNITION = 7
+    BARCODE_RECOGNITION = 8
+
+class Block:
+    # """Create a new Block with (x,y) as its center and (width,height) as its extent. Id is learned id on Huskylens.
+    # Blocks are returned by all Algorithms except for Line_Recognition. """
+    def __init__(self, x, y, width, height, id):
+        self.x = x
+        self.y = y
+        self.width = width
+        self.height = height
+        self.id = id
+    
+    def __str__(self):
+        return "Block: ID_" + str(self.id) + " Pos: (" + str(self.x) + " " + str(self.y) + ") Size: (" + str(self.width) + " " + str(self.height) + ")"
+  
+class Arrow:
+    # """Create a new Arrow from (x,y)_tail to (x,y)_head. Id is learned id on Huskylens.
+    # Arrows are returned only for the Line Recognition Algorithm. """
+    def __init__(self, x_tail, y_tail, x_head, y_head, id):
+        self.x_tail = x_tail
+        self.y_tail = y_tail
+        self.x_head = x_head
+        self.y_head = y_head
+        self.id = id
+    
+    def get_direction(self):
+        dx = self.x_head - self.x_tail
+        dy = self.y_head - self.y_tail
+        deg = 90 - math.degrees(math.atan2(dy, dx))
+        if deg < 0: deg = deg + 360
+        return int(deg)
+
+    def __str__(self):
+        return "Arrow: ID_" + str(self.id) + " (" + str(self.x_tail) + " " + str(self.y_tail) + ")->(" + str(self.x_head) + " " + str(self.y_head) + ")" 
+
+def byte_checksum(byte_list):
+    # """Computes the checksum and returns the low byte of the sum."""
+    return sum(byte_list) & 0xFF
+
+def hexify(byte_array):
+    # """Takes arraylike of bytes and converts it to hex string for pretty-printing."""
+    if len(byte_array) == 0: return ""
+    return "0x" + "".join("{:02x}".format(i) for i in byte_array)
+
+class Huskylens:
+
+    I2C_ADDR = 0x32
+
+    def __init__(self):
+        # """Create a new Huskylens instance.
+        # 
+        # A Huskylens instance is necessary for further communication.
+        # 
+        # The Huskylens has its own internal state that can't be known by this instance if 
+        # a Huskylens is operated manually or has data stored in advance (names, learned id's).
+        # """
+        self.learned_slot_count = 0
+        self.id_slots = {} # id to learning-slots.
+        self.id_names = {} # id to string
+        self.algorithm = Algorithm.OBJECT_TRACKING
+        self.clear_texts()
+        self.pro_enabled = self.is_pro()
+
+    def initialize(self):
+        # """Establishes Connection to Huskylens. Then clears custom Texts and activates Algorithm Object Tracking.
+        
+        #     First, knocks at most 5 times to setup connection.
+        #     If successful, clears custom text and changes Algorithm to OBJECT_TRACKING.
+        #     Learned ids and labels are kept from previous uses if available.
+        #     
+        #     Returns:
+        #         bool: Wheter initialization was successfull.
+        # """
+        success = False
+        for i in range(5):
+            self.knock()
+            success, _ = self.get_response(Return_Code.OK)
+            if success:
+                break
+        
+        if success > 0:
+            s = self.clear_texts()
+            s2 = self.set_algorithm(Algorithm.OBJECT_TRACKING)
+            if s and s2:
+                print("Initialization successful!")
+                return True
+            else:
+                print("Initialization Failed. Couldn't change Algorithm")
+                return False
+        else:
+            print("Initialization Failed. Please check connection to Huskylens.")
+            return False
+
+    # Low Level communication commands (deal with byte-data yourself)
+
+    def send_request(self, command, data=None):
+        # """Request an action from the Huskylens through a command code and optional Data Bytes.
+        # 
+        #     Parameters:
+        #         command (byte): a Request_Command byte to be sent.
+        #         data (list of bytes | None): Optional data to attach to the request or None.
+        # """
+        buffer = bytearray(b'\\x55\\xAA\\x11\\x00\\x00')
+        buffer[3] = 0 if data is None else len(data)
+        buffer[4] = command
+        if data:
+            for b in data:
+                buffer.append(b)
+        buffer.append(byte_checksum(buffer))
+        # print("request:", hexify(buffer))
+        i2c.write(Huskylens.I2C_ADDR, buffer)
+        sleep(50)
+
+    def get_response(self, return_code=Return_Code.ANY, timeout=500):
+        # """Read a response from I2C. Returns after a timeout when no data available.
+        #     If a specific return code is expected and given as a parameter, all other results will set the returned code to 0.
+        #     If a timeout occured, the return code is set to -1. Other errors return -2.
+        #     This way, the return code is positive upon success, and negative or 0 otherwise.
+        # 
+        #     Parameters:
+        #         return_code (byte): Optional expected return code.
+        #         timeout (int): milliseconds to wait for response before giving up
+        #     
+        #     Returns:
+        #         (code | error, data list): A tuple containing the return code or the error code as a signed byte in the first part
+        #                               The data as a list of bytes in the second argument or an empty list if nothing was sent along.  
+        # """
+        response_header = bytearray(b"\\x55\\0\\0\\0\\0")
+        start_time = running_time()
+
+        # bytewise polling, as there seem to be unpredictable 0 bytes between messages!
+        #response_header = i2c.read(Huskylens.I2C_ADDR, 5, True)
+        while running_time() - start_time < timeout:
+            byte = i2c.read(Huskylens.I2C_ADDR, 1)[0]
+            if byte == 0x55:
+                break
+        if byte != 0x55:
+            return -1, [] # Timeout error 
+        
+        # reading rest of header data
+        for i in range(4):
+            response_header[i+1] = i2c.read(Huskylens.I2C_ADDR, 1)[0]
+
+        if response_header[0:3] != b'\\x55\\xAA\\x11':
+            return -2, [] # Wrong header structure error
+        
+        data_length = response_header[3]
+        response_type = response_header[4]
+        
+        data = []
+        if data_length > 0:
+            response_body = i2c.read(Huskylens.I2C_ADDR, data_length+1)
+            data = response_body[0:-1]
+            response_checksum = response_body[-1]
+        else:
+            response_checksum = ord(i2c.read(Huskylens.I2C_ADDR, 1))
+        if response_checksum != byte_checksum(list(response_header) + data):
+            return -3, [] # Checksum Error
+        
+        # print("response: " + hexify([response_type]) + " " + hexify(data))
+        if return_code == Return_Code.ANY or response_type == return_code:
+            return response_type, data
+        else:
+            return 0, data # not expected answer Hint
+
+    def knock(self):
+        self.send_request(Request_Command.KNOCK)
+
+    # High level commands for students
+
+    def set_algorithm(self, algorithm):
+        # """ Change the active algorithm on the Huskylens. Returns True on success."""
+        if (algorithm == Algorithm.QR_RECOGNITION or algorithm == Algorithm.BARCODE_RECOGNITION) and (not self.pro_enabled):
+            raise RuntimeError("Error: Huskylens PRO version is required for algorithm ", _algorithm_names[algorithm])
+            return False
+        data = [algorithm, 0x00]
+        self.send_request(Request_Command.ALGORITHM, data)
+        success, _ = self.get_response(Return_Code.OK)
+        if success > 0:
+            print("Current Algorithm:", _algorithm_names[algorithm])
+            self.algorithm = algorithm
+        return True if success > 0 else False
+
+    def get_all(self):
+        # """Get All detected objects, Blocks or Arrows as a list."""
+        return self._get_results(Request_Command.ALL)
+
+    def get_all_learned(self):
+        # """Get all detected objects that are learned as a list."""
+        return self._get_results(Request_Command.LEARNED)
+
+    def get_all_with_id(self, id):
+        # """Get all detected objects with specific id as a list."""
+        if id <= 0 or id > 255:
+            raise RuntimeError("Error: ID must be in range from 1 to 255.")
+        return self._get_results(Request_Command.ALL_OF_ID, id)
+
+    def get_one(self):
+        # """Get one instance of centermost detected object (Block or Arrow) else None."""
+        results = self._get_results(Request_Command.ALL)
+        return self._get_centermost(results) 
+
+    def get_one_learned(self):
+        # """Get one instance of centermost detected object that has an id > 0. else None."""
+        results = self._get_results(Request_Command.LEARNED)
+        return self._get_centermost(results)
+
+    def get_one_with_id(self, id):
+        # """Get one instance of centermost detected object that has given id. else None."""
+        if id <= 0 or id > 255:
+            raise RuntimeError("Error: ID must be in range from 1 to 255.")
+        results = self._get_results(Request_Command.ALL_OF_ID, id)
+        return self._get_centermost(results)
+
+    def attach_label(self, id, name):
+        # """Attach the label "name" to a learned id of current Algorithm. Returns True on success."""
+        if self.algorithm == Algorithm.OBJECT_TRACKING or \\
+           self.algorithm == Algorithm.LINE_TRACKING: # single learn algorithms
+            success = self._set_name(1, name)
+        elif self.algorithm == Algorithm.FACE_RECOGNITION or \\
+             self.algorithm == Algorithm.TAG_RECOGNITION or \\
+             self.algorithm == Algorithm.OBJECT_CLASSIFICATION or \\
+             self.algorithm == Algorithm.OBJECT_RECOGNITION: # multi learn algorithms
+            # avoid naming unlearned id's to avert bugs.
+            slots = self.id_slots.get(id)
+            if slots == None:
+                raise RuntimeError("Can't attach a name to an unlearned ID number")
+
+            self.id_names[id] = name
+
+            success = True
+            for slot in slots:
+                s = self._set_name(slot, name)
+                success = success and s > 0
+        else: # For color recognition (where it works properly!)
+            self.id_names[id] = name
+            success = self._set_name(id, name)
+        return True if success > 0 else False
+
+    def clear_labels(self):
+        # """Deletes all learned label names on Huskylens for the current algorithm."""
+        self.id_names.clear()
+        for i in range(10):
+            self._set_name(i, "")
+
+    def add_text(self, text, position_x, position_y):
+        # """Add a custom text to the Huskylens screen at a certain screen pixel-position (top left starting point). 
+        # Text must be less than 20 bytes long and within pixel-borders. 
+        # Multiple texts at the same location get overwritten. Returns True on success."""
+        text_bytes = bytes(text, "utf-8")
+        if len(text_bytes) > 19:
+            raise RuntimeError("Custom Text must be less than 20 bytes long.")
+        if position_x > 300 or position_x < 0 or position_y < 35 or position_y > 240:
+            raise RuntimeError("Custom Text can't be placed outside of screen pixel size.")
+        data = [len(text_bytes)]
+        data.append(0xFF if position_x > 255 else 0x00)
+        data.append(position_x % 255)
+        data.append(240 - position_y) # reverse flipped y axis
+        data.extend(list(text_bytes))
+        self.send_request(Request_Command.CUSTOM_TEXT, data)
+        success, _ = self.get_response(Return_Code.OK)
+        return True if success > 0 else False
+        
+    def clear_texts(self):
+        # """Deletes all text on the Huskylens screen."""
+        self.send_request(Request_Command.CLEAR_TEXT)
+        success, _ = self.get_response(Return_Code.OK)
+        return True if success > 0 else False
+
+    def learn(self, id, name=None):
+        # """Learn and assign an id to the object currently centered on the huskylens camera. 
+        # Optionally attach label to this learned id. Returns True on success."""
+        if id <= 0 or id > 255:
+            raise RuntimeError("Parameter ID for learned item must be in range [0,255]")
+        if self.algorithm == Algorithm.OBJECT_TRACKING or self.algorithm == Algorithm.LINE_TRACKING:
+            id = 1
+        timeout = 500
+        if self.algorithm == Algorithm.OBJECT_CLASSIFICATION:
+            timeout = 1000
+        self.send_request(Request_Command.LEARN, [id, 0x00])
+        success, _ = self.get_response(Return_Code.OK, timeout)
+        if success > 0:
+            # 1. remember slot for id
+            self.learned_slot_count += 1
+            if (not (id in self.id_slots)):
+                self.id_slots[id] = [self.learned_slot_count]
+            else:
+                self.id_slots[id].append(self.learned_slot_count)
+            # 2. attach, name if available.
+            known_by = self.id_names.get(id)
+            if known_by != None:
+                success = self.attach_label(self.learned_slot_count, known_by)
+            elif name != None:
+                success = self.attach_label(id, name)
+        return True if success > 0 else False
+    
+    def forget(self):
+        # """Forget all learned objects (ids) of the current algorithm. 
+        # Labels are unaffected. Returns True on success."""
+        self.send_request(Request_Command.FORGET)
+        success, _ = self.get_response(Return_Code.OK)
+        if success:
+            self.learned_slot_count = 0
+            self.id_slots.clear()
+        return True if success else False
+    
+
+    def save_photo(self):
+        # """Save a photo to the SD-Card. No Feedback, fails on Huskylens screen if no SD-Card is available."""
+        self.send_request(Request_Command.SAVE_PHOTO)
+        success, _ = self.get_response(Return_Code.OK, 1000)
+        return True if success > 0 else False
+
+    def save_screenshot(self):
+        # """Save a screenshot (including texts) to the SD-Card. No Feedback, fails on Huskylens screen if no SD-Card is available."""
+        self.send_request(Request_Command.SAVE_SCREENSHOT)
+        success, _ = self.get_response(Return_Code.OK, 1000)
+        return True if success > 0 else False
+
+    def save_model(self, model_id):
+        # """Save the learned ids and labels to the SD-Card. No Feedback, see Huskylens screen for Result.
+        # There can be at most 5 models per Algorithm, indexed by model_id."""
+        if model_id < 0 or model_id > 4:
+            raise RuntimeError("Invalid model_id. Must be number in range [0,4]")
+        self.send_request(Request_Command.SAVE_MODEL, [model_id, 0x00])
+        success, _ = self.get_response(Return_Code.OK, 1000)
+        print("Model saving: Check Huskylens screen for Result!\\n\\tModel name:", _algorithm_names[self.algorithm] + "_Backup_" + str(model_id) + ".conf")
+        return True if success > 0 else False
+
+    def load_model(self, model_id):
+        # """Load a previously saved model for the active Algorithm from the SD-Card. No Feedback, see Huskylens screen for Result."""
+        if model_id < 0 or model_id > 4:
+            raise RuntimeError("Invalid model_id. Must be number in range [0,4]")
+        self.send_request(Request_Command.LOAD_MODEL, [model_id, 0x00])
+        success, _ = self.get_response(Return_Code.OK, 1000)
+        print("Model Loading: Check Huskylens screen for Result!")
+        return True if success > 0 else False
+
+    def is_pro(self):
+        # """Checks wheter the Huskylens is the PRO version, which supports QR_RECOGNITION and BARCODE_RECOGNITION.
+        # Returns True/False on success, else 0."""
+        self.send_request(Request_Command.IS_PRO)
+        success, data = self.get_response(Return_Code.IS_PRO)
+        return bool(data[0]) if success > 0 else False
+
+    # hidden Utility functions
+
+    def _set_name(self, id, name):
+        # """Set the name of block "id" to the given "name". Name must be less than 20 characters long."""
+        name_bytes = bytes(name, "utf-8")
+        if len(name_bytes) > 19: raise RuntimeError("Custom Name must be less than 20 bytes long.")
+        data = [id, len(name_bytes)+1]
+        data.extend(list(name_bytes))
+        data.append(0x00)
+        self.send_request(Request_Command.CUSTOM_LABEL, data)
+        success, _ = self.get_response(Return_Code.OK)
+        return True if success > 0 else False
+
+    def _get_results(self, request_command, id=-1):
+        # """Get all detected Blocks or Arrows from the Huskylens, specified by the request and id.
+        # Possible Requests: BLOCKS, BLOCKS_LEARNED, BLOCKS_OF_ID, ARROWS, ...
+        # Returns a list of all the detected Block or Arrow instances.
+        # """
+        request_data = None if id < 0 else [id, 0]
+        self.send_request(request_command, request_data)
+
+        # 1. get info header
+        success, info = self.get_response(Return_Code.INFO)
+        if not success:
+            raise RuntimeError("Failed to request results. Got answer:" + str(success))
+        
+        # Ignoring number of detected id's and current frame number.
+        n_elements = info[0] + info[1]*255
+        #n_ids = info[2] + info[3]*255
+        # frame = info[4] + info[5]*255
+        #print("result info:", n_elements, n_ids, frame)
+
+        # 2. receive data
+        el = 0
+        objects = []
+
+        while el < n_elements:
+            response_type, el_data = self.get_response(Return_Code.ANY)
+            if response_type == Return_Code.BLOCK and self.algorithm != 3:
+                x = el_data[0] + el_data[1]*255
+                y = 240 - el_data[2] + el_data[3]*255 # flipped y axis
+                width = el_data[4] + el_data[5]*255
+                height = el_data[6] + el_data[7]*255
+                el_id = el_data[8]
+                block = Block(x, y, width, height, el_id)
+                objects.append(block)
+                el += 1
+            
+            elif response_type == Return_Code.ARROW:
+                xtail = el_data[0] + el_data[1]*255
+                ytail = 240 - el_data[2] + el_data[3]*255 # flipped y axis
+                xhead = el_data[4] + el_data[5]*255
+                yhead = 240 - el_data[6] + el_data[7]*255 # flipped y axis
+                el_id = el_data[8]
+                arrow = Arrow(xtail,ytail,xhead,yhead,el_id)
+                objects.append(arrow)
+                el += 1
+            elif response_type == 0:
+                return [] # Error (couldn't read all detected elements) fail silently.
+        return objects
+
+    def _get_centermost(self, results):
+        # """Select and Return the most centered (L1-distance) instance of all detected Objects in "results". """
+        centermost = None
+        max_offset = 320+120
+        for obj in results:
+            center_offset = 0
+            if self.algorithm == Algorithm.LINE_TRACKING:
+                center_offset = abs((obj.x_tail + (obj.x_tail - obj.x_head) // 2) - 160) \\
+                                + abs((obj.y_tail + (obj.y_tail - obj.y_head) // 2) - 120)
+            else:
+                center_offset = abs(obj.x - 160) + abs(obj.y - 120)
+            if center_offset < max_offset:
+                centermost, max_offset = obj, center_offset
+        return centermost 
+`,
+  mbbitbot: "from microbit import *\nfrom neopixel import *\nfrom utime import ticks_us, sleep_us\n\n\n_v = 200\n_nbLeds = 12\n_np = NeoPixel(pin13, _nbLeds)\n\n_powerDifferential = 0\n_powerOffset = 0\n\n\ndef w(leftforward, leftbackward, rightforward, rightbackward):\n    if leftforward > 0 or rightforward > 0:\n        pin16.write_analog(leftforward + _powerDifferential)\n        pin8.write_analog(leftbackward)\n        pin14.write_analog(rightforward - _powerDifferential)\n        pin12.write_analog(rightbackward)\n    elif leftbackward > 0 or rightbackward > 0:\n        pin16.write_analog(leftforward)\n        pin8.write_analog(leftbackward + _powerDifferential)\n        pin14.write_analog(rightforward)\n        pin12.write_analog(rightbackward - _powerDifferential)\n    elif leftforward == 0 and rightforward == 0 and leftbackward == 0 and rightbackward == 0:\n        pin16.write_analog(0)\n        pin8.write_analog(0)\n        pin14.write_analog(0)\n        pin12.write_analog(0)\n\n\ndef forward():\n    w(_v, 0, _v, 0)\n\n\ndef backward():\n    w(0, _v, 0, _v)\n\n\ndef stop():\n    w(0, 0, 0, 0)\n\n\ndef right():\n    w(0, _v, _v, 0)\n\n\ndef left():\n    w(_v, 0, 0, _v)\n\n\ndef set_led(pos, red, green, blue):\n    _np[pos] = (red, green, blue)\n    _np.show()\n\n\ndef fill(red, green, blue):\n    for i in range(_nbLeds):\n        _np[i] = (red, green, blue)\n    _np.show()\n\n\ndef getDistance():\n    pin15.write_digital(1)\n    sleep_us(10)\n    pin15.write_digital(0)\n    pin15.set_pull(pin15.NO_PULL)\n    while pin15.read_digital() == 0:\n        pass\n    start = ticks_us()\n    while pin15.read_digital() == 1:\n        pass\n    end = ticks_us()\n    echo = end-start\n    distance = int(0.01715 * echo)\n    return distance\n\n\ndef calibrate(offset, differential=0):\n    global _powerDifferential\n    global _powerOffset\n    global _arcScaling\n\n    _powerOffset = max(min(int(offset), 50), -50)\n    _powerDifferential = max(min(int(differential), 50), -50)\n    _arcScaling = max(min(arcScaling, 50), -50)\n    setSpeed(_v / 1023 * 100)\n\n\ndef setSpeed(percent):\n    global _v\n    speed = percent / 100 * 1023\n    speed += _powerOffset/100 * 1023\n    speed = min(max(speed, 0), 1023)\n    _v = speed\n\n\ndef getLine(bit):\n    mask = 1 << bit\n    value = 0\n    try:\n        value = i2c.read(0x1c, 1)[0]\n    except OSError:\n        pass\n    if (value & mask) > 0:\n        return 1\n    else:\n        return 0\n\n\ndef getLight(index):\n    if index == 0:\n        return pin1.read_analog()\n    elif index == 1:\n        return pin2.read_analog()\n\n\ndef leftArc(radius):\n    speed = _v\n    inner_wheel_speed = speed * (radius / (radius + 1))\n    w(inner_wheel_speed, 0, speed, 0)\n\n\ndef rightArc(radius):\n    speed = _v\n    inner_wheel_speed = speed * (radius / (radius + 1))\n    w(speed, 0, inner_wheel_speed, 0)\n",
+  mbwait: `from microbit import button_a, button_b, pin0, pin1, pin2, pin_logo, sleep
+
+# choose the reactivity of the press/touch sensing in ms. Default 100ms is 10 checks per second.
+POLLING_DELAY = 100
+
+# Let the microbit wait until a certain button of choice was pressed (and released).
+
+
+def wait_for_press(button='any'):
+    button_a.was_pressed()
+    button_b.was_pressed()
+    # busy wait until a chosen button was pressed.
+    if button == 'a' or button == 'A':
+        while not button_a.was_pressed():
+            sleep(POLLING_DELAY)
+    elif button == 'b' or button == 'B':
+        while not button_b.was_pressed():
+            sleep(POLLING_DELAY)
+    elif button == 'any' or button == 'ANY':
+        while (not button_a.was_pressed()) and (not button_b.was_pressed()):
+            sleep(POLLING_DELAY)
+    elif button == 'both' or button == 'ab' or button == 'AB':
+        while not (button_a.is_pressed() and button_b.is_pressed()):
+            sleep(POLLING_DELAY)
+        while button_a.is_pressed() or button_b.is_pressed():
+            sleep(POLLING_DELAY)
+    else:
+        raise RuntimeError(
+            "Button to wait for must be either: 'a', 'b', 'any' or 'both'.")
+
+# Let the microbit wait until a certain touch-sensitive pin of choice is touched.
+
+
+def wait_for_touch(pin='logo'):
+    # busy wait until a given pin/logo is pressed.
+    p = pin_logo
+    if pin == 'pin0':
+        p = pin0
+    elif pin == 'pin1':
+        p = pin1
+    elif pin == 'pin2':
+        p = pin2
+    elif pin == 'logo' or pin == 'pin_logo' or pin == 'pinLogo':
+        p = pin_logo
+    else:
+        raise RuntimeError(
+            "Argument 'pin' must be one of: 'pin_logo', 'pin0', 'pin1' or 'pin2'.")
+    p.set_touch_mode(p.CAPACITIVE)
+    while not p.is_touched():
+        sleep(POLLING_DELAY)
+`,
+  mbled: `from neopixel import *
+import gc
+from microbit import pin2
+
+
+_nbLeds = 24
+_np = NeoPixel(pin2, _nbLeds)
+
+# Fill all pixels with the same color.
+# The color is specified by giving values between 0 and 255 for red, green and blue
+
+
+def fill(red, green, blue):
+    for i in range(_nbLeds):
+        _np[i] = (red, green, blue)
+    _np.show()
+
+# Set the specified pixel to the specified color.
+# The pixel is specified by a number between 0 and 23.
+# The color is specified by giving values between 0 and 255 for red, green and blue
+
+
+def set_led(pos, red, green, blue):
+    _np[pos] = (red, green, blue)
+    _np.show()
+
+# clears all LEDS by turning them off
+
+
+def clear():
+    _np.clear()
+
+# shift the displayed image by as many led-positions as specified in parameter "amount".
+# LED strip behaves like a cycle and wraps around when shifting across borders.
+
+
+def shift_by(amount):
+    shifted_copy = [None]*_nbLeds
+    for n in range(0, _nbLeds):
+        next_i = (n + amount) % _nbLeds
+        shifted_copy[n] = _np[next_i]
+    for n in range(0, _nbLeds):
+        _np[n] = shifted_copy[n]
+    _np.show()
+
+# get linearly interpolated colors in RGB space.
+# "percent" is the blending distance between the two colors. 0 is first color only, and 100 is second color only.
+
+
+def lerp_RGB(r1, g1, b1, r2, g2, b2, percent):
+    if percent < 0.0 or percent > 100.0:
+        raise RuntimeError("Argument 'percent' must be between 0 and 100.")
+    red = max(0, min(255, round(r1 + (r2 - r1) * (percent/100.0))))
+    green = max(0, min(255, round(g1 + (g2 - g1) * (percent/100.0))))
+    blue = max(0, min(255, round(b1 + (b2 - b1) * (percent/100.0))))
+    return red, green, blue
+`,
+  mbrobot_plus: `# mbrobot_plus.py
+# Version 1.4 (1.10.2022)
+ 
+from microbit import i2c,pin0,pin1,pin2,sleep
+import machine
+import gc
+import music
+
+_v = 50
+_axe = 0.082
+    
+def w(d1, d2, s1, s2):
+    try:
+        i2c.write(0x10, bytearray([0x00,d1, d2, s1, s2]))
+    except:
+        print("Please switch on mbRobot!")
+        
+def setSpeed(speed):
+    global _v
+    if speed < 30 and speed != 0:
+        setPID(1)
+        _v = speed + 30      
+    elif speed >= 30 and speed < 32:
+        setPID(0)
+        _v = speed + 2
+    else:
+        setPID(0)
+        _v = speed  
+  
+def setPID(pd):
+    i2c.write(0x10, bytearray([0x0A, pd]))
+
+def stop():
+    setPID(0)
+    w(0, 0, 0, 0) 
+    
+def resetSpeed():
+    setPID(0)
+    _v = 50          
+
+def forward():
+    w(1, _v, 1, _v)
+    
+def backward():
+    w(2, _v, 2, _v)          
+            
+def left():
+    m = 1.825 -0.0175 * _v
+    w(2, int(_v * m), 1, int(_v * m))
+    
+def right():
+    m = 1.825 -0.0175 * _v
+    w(1, int(_v * m), 2, int(_v * m))
+    
+def rightArc(r):
+    v = abs(_v)
+    if r < _axe:
+        v1 = 0
+    else:
+        f = (r - _axe) / (r + _axe) * (1 - v * v / 200000)             
+        v1 = int(f * v)
+    if _v > 0:
+        w(1, v, 1, v1)
+    else:
+        w(2, v1, 2, v)
+
+def leftArc(r):
+    v = abs(_v)
+    if r < _axe:
+        v1 = 0
+    else:
+        f = (r - _axe) / (r + _axe) * (1 - v * v / 200000)        
+        v1 = int(f * v)
+    if _v > 0:
+        w(1, v1, 1, v)
+    else:
+        w(2, v, 2, v1)    
+
+def getDistance():
+    pin1.write_digital(1)
+    pin1.write_digital(0)
+    p = machine.time_pulse_us(pin2, 1, 50000)
+    cm = int(p / 58.2 - 0.5)
+    return cm if cm > 0 else 255 
+
+class Motor:
+    def __init__(self, id):
+        self._id = 2 * id
+        
+    def _w(self, d, s):
+        try:
+            i2c.write(0x10, bytearray([self._id, d, s]))
+        except:
+            print("Please switch on mbRobot!")
+            while True:
+                pass               
+
+    def rotate(self, s):
+        p = abs(s) 
+        if s > 0:
+            self._w(1, p)    
+        elif s < 0:
+            self._w(2, p) 
+        else:   
+            self._w(0, 0)
+       
+class LEDState:
+    OFF = 0
+    RED = 1
+    GREEN = 2
+    YELLOW = 3
+    BLUE = 4
+    PINK = 5
+    CYAN = 6
+    WHITE = 7
+
+def setLED(state, stateR=None):
+    stateR = stateR or state
+    i2c.write(0x10, bytearray([0x0B, state, stateR]))
+        
+def setLEDLeft(state):
+    i2c.write(0x10, bytearray([0x0B, state])) 
+    
+def setLEDRight(state):
+    i2c.write(0x10, bytearray([0x0C, state])) 
+    
+def setAlarm(on):
+    if on:
+        music.play(_m, wait = False, loop = True)    
+    else:
+        music.stop() 
+        
+def beep():
+    music.pitch(2000, 200, wait = False)          
+
+def ir_read_values_as_byte():
+    i2c.write(0x10, bytearray([0x1D]))
+    buf = i2c.read(0x10, 1)
+    return ~buf[0]
+
+def setServo(S, Angle):
+    if S == "S1":
+        Servo = 0x14
+    if S == "S2":
+        Servo = 0x15
+    buf = Servo, Angle
+    i2c.write(0x10, bytes(buf))
+
+class IR:
+    L3 = 0
+    L2 = 1
+    L1 = 2
+    R1 = 3
+    R2 = 4
+    R3 = 5  
+    masks = [0x01,0x02,0x04,0x08,0x10,0x20]
+   
+class IRSensor:
+    def __init__(self, index):
+        self.index = index
+        
+    def read_digital(self):
+        byte = ir_read_values_as_byte()
+        return (byte & IR.masks[self.index]) >> self.index
+
+irLeft = IRSensor(IR.L1)
+irRight = IRSensor(IR.R1)
+irL1 = IRSensor(IR.L1)
+irR1 = IRSensor(IR.R1)
+irL2 = IRSensor(IR.L2)
+irR2 = IRSensor(IR.R2)
+irL3 = IRSensor(IR.L3)
+irR3 = IRSensor(IR.R3)
+pin2.set_pull(pin2.NO_PULL)
+motL = Motor(0)
+motR = Motor(1)
+delay = sleep
+_m = ['c6:1', 'r', 'c6,1', 'r', 'r', 'r']
+
+`,
+  mbrobot: `# mbrobot.py
+# Date 10/09/24
+
+from microbit import i2c, pin1, pin2, pin8, pin12, pin13, pin14, pin15, sleep
+import gc
+import machine
+import music
+import neopixel
+
+# Motor state
+_speedPercent = 50
+_powerByteL = 40
+_powerByteR = 40
+_motorState = bytearray(5)
+_servoBytes = bytearray(2)
+_powerBytesLUT = bytes(b'\\x00\\x0b\\x0b\\x0c\\x0c\\x0d\\x0d\\x0d\\x0e\\x0e\\x0f\\x0f\\x0f\\x10\\x10\\x11\\x11\\x11\\x12\\x12\\x13\\x13\\x13\\x14\\x14\\x15\\x15\\x15\\x16\\x16\\x17\\x17\\x17\\x18\\x19\\x1a\\x1b\\x1b\\x1c\\x1d\\x1e\\x1f\\x20\\x21\\x22\\x23\\x23\\x24\\x25\\x26\\x27\\x28\\x29\\x2a\\x2b\\x2b\\x2c\\x2d\\x2e\\x2f\\x30\\x31\\x32\\x33\\x34\\x36\\x38\\x3a\\x3c\\x3f\\x41\\x44\\x46\\x49\\x4c\\x4f\\x53\\x56\\x5a\\x5e\\x62\\x67\\x6b\\x70\\x75\\x7b\\x81\\x87\\x8d\\x94\\x9b\\xa3\\xab\\xb4\\xbd\\xc6\\xd0\\xdb\\xe6\\xf2\\xff')
+
+# Calibration data
+_powerOffset = 0
+_powerDifferential = 0
+_arcScaling = 0
+
+# signaling objects
+_underglowNP = neopixel.NeoPixel(pin15, 4)
+np_rgb_pixels = _underglowNP
+_alarmSequence = ['c5:1', 'r', 'c5:1', 'r:3']
+
+_UNCONNECTEDERRORMSG = "Please connect to Maqueen robot and switch it on."
+
+# Utility functions
+
+
+def _setMotors(dirL, powerL, dirR, powerR):
+    # """Write Motor State via i2c
+
+    # Parameters:
+    #     dirL (0/1): Direction of left Wheel. 0=forward, 1=backward
+    #     powerL (int): Power of left Wheel in range [0,255].
+    #     dirR (0/1): Direction of right Wheel. 0=forward, 1=backward
+    #     powerR (int): Power of right Wheel in range [0,255].
+    #
+    # raises:
+    #     RuntimeError: if Robot is switched off or unconnected. (replaces ENODEV error)
+    # """
+    global _motorState
+    _motorState[1] = dirL
+    _motorState[2] = powerL
+    _motorState[3] = dirR
+    _motorState[4] = powerR
+    try:
+        i2c.write(0x10, _motorState)
+    except:
+        raise RuntimeError(_UNCONNECTEDERRORMSG)
+
+
+def _setSingleMotor(side, dir, power):
+    # """Write Motor State of a single Motor via i2c
+
+    # Parameters:
+    #     side (0/2): Selection of the Wheel. 0=left, 2=right
+    #     dir (0/1): Direction for that Wheel. 0=forward, 1=backward
+    #     power (int): Power for that Wheel in range [0,255].
+    #
+    # raises:
+    #     RuntimeError: if Robot is switched off or unconnected. (replaces ENODEV error)
+    # """
+    global _motorState
+    _motorState[1 + side] = dir
+    _motorState[2 + side] = power
+    try:
+        i2c.write(0x10, _motorState)
+    except:
+        raise RuntimeError(_UNCONNECTEDERRORMSG)
+
+# _getPowerByte was used to create LookUpTable (_powerBytesLUT) used in _getPowerByteLUT to reduce Memory Leaks.
+# def _getPowerByte(speed, offset):
+#     # """Computes the power value for a given speed in %.
+#     # It accouts for the nonlinearity of motor strength.
+#     # This is the original function that generates the LUT.
+#
+#     # Parameter:
+#     #     speed (number): Desired speed of the Robot in %. Range [0,100].
+#     #     offset (number): basic power offset to add to the function.
+#     # Returns:
+#     #     int: Power in range [0,255] to write to the motors via i2c.
+#     # """
+#     if speed <= 0:
+#         return 0
+#     if speed <= 33:
+#         return int(0.4 * speed + 11 + offset)
+#     elif speed <= 63:
+#         return int(0.89 * speed - 5 + offset)
+#     elif speed < 100:
+#         return int(min(1.0561 ** speed + 20 + offset, 255))
+#     else:
+#         return 255
+
+
+def _getPowerByteLUT(speed, offset):
+    # """Lookup Table version of _getPowerByte"""
+    return min(_powerBytesLUT[speed] + offset, 255)
+
+
+def _getArcBytes(r):
+    # """Computes the power bytes to drive an arc.
+
+    # Parameter:
+    #     r (float): Radius in meters of the desired Arc.
+    #         Measured from the center of the axle.
+    # Returns:
+    #     (int, int): Power byte values for each motor.
+    #         First the outer Wheels byte [0,255],
+    #         then the inner Wheels byte [0,255].
+    # """
+    outerSpeed = _speedPercent
+    rCm = int(r * 100)  # r in cm instead of meters
+    # adjust outer speed for unhealthy combinations
+    # That is: too low speeds and big arcs.
+    threshold = outerSpeed - max(rCm + 20, 40)
+    if threshold <= 0:
+        outerSpeed = min(max(rCm + 40, 40), 100)
+    reducedSpeed = 0
+    if rCm >= 4:  # minimal radius is half the axle size: 3.5 cm rounded.
+        flattening = (100 - outerSpeed) // 2
+        reducedSpeed = (rCm * 10 - 35) / \\
+            (rCm * (11 + (_arcScaling-4)/10) + 90 + flattening)
+        reducedSpeed = reducedSpeed * outerSpeed
+    innerByte = _getPowerByteLUT(int(reducedSpeed), 0)
+    outerByte = _getPowerByteLUT(int(outerSpeed), 0)
+    return (innerByte, outerByte)
+
+# Movement Functions
+
+
+def calibrate(offset, differential=0, arcScaling=0):
+    # """Adjust the driving behaviour of the robots
+
+    # Parameters:
+    #     offset (int): Offsets the minimal power of the motors.
+    #         Range [-10,50]. Highly affected by battery level.
+    #         Adjust this value until it starts moving at speed 1%.
+    #     differential (int, optional): Adjusts power difference
+    #         of left and right Wheel. Range [-150, 150].
+    #         Varies unpredictably with different speeds.
+    #         If a Robot steers left when driving forward: negative value
+    #         If a Robot steers right when driving forward: positive value
+    #         Perfectly straight driving Robots can leave this at 0.
+    #     arcScaling (int, optional): Adjusts the radius
+    #         driven by leftArc/rightArc. Valid range [-50, 50].
+    #         If the Robots radius is too large: positive value
+    #         If the Robots radius is too small: negative value
+    #         This then adjusts all radii for this Robot, by
+    #         scaling it's internal function to the new range.
+    # """
+    global _powerDifferential
+    global _powerOffset
+    global _arcScaling
+    _powerOffset = max(min(int(offset), 50), -10)
+    _powerDifferential = max(min(int(differential), 150), -150)
+    _arcScaling = max(min(arcScaling, 50), -15)
+    setSpeed(_speedPercent)
+
+
+def setSpeed(speed):
+    # """sets the speed for future motion
+
+    # Parameter:
+    #     speed (int): in Range [0,100] as % of desired velocity.
+    # """
+    global _speedPercent
+    global _powerByteL
+    global _powerByteR
+    _speedPercent = int(min(max(speed, 0), 100))
+    powerByte = _getPowerByteLUT(_speedPercent, _powerOffset)
+    boost = round((1 - _speedPercent / 100) *
+                  abs(_powerDifferential)) if _speedPercent > 0 else 0
+    reduction = round((_speedPercent / 100) * abs(_powerDifferential))
+    if _powerDifferential > 0:
+        _powerByteL = powerByte - reduction
+        _powerByteR = powerByte + boost
+    else:
+        _powerByteL = powerByte + boost
+        _powerByteR = powerByte - reduction
+
+
+def resetSpeed():
+    setSpeed(50)
+
+
+def stop():
+    _setMotors(0, 0, 0, 0)
+
+
+def forward():
+    _setMotors(0, _powerByteL, 0, _powerByteR)
+
+
+def backward():
+    _setMotors(1, _powerByteL, 1, _powerByteR)
+
+
+def left():
+    _setMotors(1, _powerByteL, 0, _powerByteR)
+
+
+def right():
+    _setMotors(0, _powerByteL, 1, _powerByteR)
+
+
+def rightArc(radius):
+    # """radius must be given in meters."""
+    inner, outer = _getArcBytes(radius)
+    _setMotors(0, outer, 0, inner)
+
+
+def leftArc(radius):
+    # """radius must be given in meters."""
+    inner, outer = _getArcBytes(radius)
+    _setMotors(0, inner, 0, outer)
+
+
+class Motor:
+    def __init__(self, side):
+        # """Create a single motor.
+
+        # Parameter:
+        #     side (8/2): 0=left, 2=right
+        # """
+        self._side = side
+
+    def rotate(self, speed):
+        # """Controls rotation of this motor.
+
+        # Parameters:
+        #     speed (int): Desired speed in %.
+        #         Valid range [-100,100].
+        #         Negative values are for backward turning.
+        # """
+        speedClamped = int(min(max(abs(speed), 0), 100))
+        power = _getPowerByteLUT(speedClamped, _powerOffset)
+        direction = 0 if speed > 0 else 1
+        _setSingleMotor(self._side, direction, power)
+
+
+def setServo(servo, angle):
+    # """Moves the Servo to position angle.
+    # Servos must be connected to the Maqueen Lite's Servo connectors.
+    # They are located in front of the left wheel.
+
+    # Parameters:
+    #     servo (str): Desired Servo Port. Either 'S1' or 'S2'.
+    #     angle (int): Desired angle in degrees. Range [0,180].
+
+    # raises:
+    #     ValueError: if arguments are out of valid range
+    #     RuntimeError: if Robot is switched off or unconnected.
+    # """
+    global _servoBytes
+    # Acceptance of "P0" and "P1" is for compatibility with V2.
+    if servo == 'S1' or servo == 'P0':
+        _servoBytes[0] = 0x14
+    elif servo == 'S2' or servo == 'P1':
+        _servoBytes[0] = 0x15
+    else:
+        raise ValueError("Unknown Servo. Please use 'S1' or 'S2'.")
+
+    if angle < 0 or angle > 180:
+        raise ValueError("Invalid angle. Must be between 0 and 180")
+
+    _servoBytes[1] = angle
+    try:
+        i2c.write(0x10, _servoBytes)
+    except:
+        raise RuntimeError(_UNCONNECTEDERRORMSG)
+
+# Sensor functions
+
+
+class IRSensor():
+    def __init__(self, pin):
+        # """Create a new IR sensor.
+
+        # Parameter:
+        #     pin (object): pin13=left, pin14=right
+        # """
+        self._pin = pin
+
+    def read_digital(self):
+        # """Returns if the surface below is dark or bright.
+        # Result can be adjusted by putting the sensor on the dark
+        # surface and pressing the LineKey calibration button on the
+        # Robot for a few seconds, until the LED's blink.
+
+        # Returns:
+        #     0 if the surface is dark. No light was reflected (in Air).
+        #     1 if the surface is bright. A lot of light was reflected.
+        # """
+        return self._pin.read_digital()
+
+    def read_analog(self):
+        raise NameError(
+            "Maqueen Lite does not support reading analog sensor values.")
+
+
+def getDistance():
+    # """uses the ultrasonic sensor to measure distance
+
+    # Returns:
+    #     int: valid Distance as cm in range [0,500].
+    #         For measurement errors or larger distances: 255.
+    # """
+    pin1.write_digital(1)
+    pin1.write_digital(0)
+    p = machine.time_pulse_us(pin2, 1, 50000)
+    # approximate division: cm = p / 57.5
+    cm = (p >> 6) + (p >> 10) + (p >> 11) + (p >> 12) + 1
+    return max(min(cm, 500), 0) if cm > 0 else 255
+
+# Signaling functions
+
+
+def setLED(state, stateR=None):
+    # """Set the front red LED's.
+
+    # Parameters:
+    #     state (0/1): Sets the state of the left LED.
+    #         if stateR is omitted, then both LEDS.
+    #         0=Off, 1=On
+    #     stateR (0/1/None, optional): Sets the right LED state.
+    #         0=Off, 1=On, Default=None uses "state" for right LED.
+    # """
+    stateR = stateR if stateR != None else state
+    pin8.write_digital(state)
+    pin12.write_digital(stateR)
+
+
+def setLEDLeft(state):
+    # """state: 0=Off, 1=On"""
+    pin8.write_digital(state)
+
+
+def setLEDRight(state):
+    # """state: 0=Off, 1=On"""
+    pin12.write_digital(state)
+
+
+def fillRGB(red, green, blue):
+    # """Uses Neopixel to set all 4 bottom RGB LEDs color.
+    # Parameters (red,green,blue) are each a byte in Range [0,255].
+    # """
+    for i in range(4):
+        _underglowNP[i] = (red, green, blue)
+    _underglowNP.show()
+setRGB = fillRGB
+
+
+def clearRGB():
+    _underglowNP.clear()
+
+
+def posRGB(position, red, green, blue):
+    # """Uses Neopixel to set a single RGB LED of the robot.
+
+    # Parameters:
+    #     position (int): position of the targeted LED.
+    #         Numbers are visible at underside of Robot.
+    #         0=front left
+    #         1=back left
+    #         2=back right
+    #         3=front right
+    #     red, green, blue (int): color byte value.
+    #         each in range [0,255].
+
+    # raises:
+    #     ValueError: if position argument is out of valid range
+    # """
+    if position < 0 or position > 3:
+        raise ValueError("invalid RGB-LED position. Must be 0,1,2 or 3.")
+    _underglowNP[position] = (red, green, blue)
+    _underglowNP.show()
+
+
+def setAlarm(state):
+    # """state: 0=Off, 1=On"""
+    if state:
+        music.play(_alarmSequence, wait=False, loop=True)
+    else:
+        music.stop()
+
+
+def beep():
+    music.pitch(440, 200, wait=False)
+
+
+# Default instances
+pin2.set_pull(pin2.NO_PULL)
+delay = sleep
+irLeft = IRSensor(pin13)
+irRight = IRSensor(pin14)
+motL = Motor(0)
+motR = Motor(2)
+`,
+  mbrobot_plusV3: `# mbrobot_plusV3.py
+# Date 25/11/25
+
+from microbit import i2c, sleep, running_time, pin0, pin1, pin2
+import neopixel
+import music
+
+_motorState = bytearray(5)
+_speedPercent = 50
+_powerByteL = 50
+_powerByteR = 50
+_powerBytesLUT = bytes(b'\\x00\\x0f\\x10\\x10\\x11\\x12\\x12\\x13\\x13\\x14\\x15\\x15\\x16\\x16\\x17\\x18\\x18\\x19\\x19\\x1a\\x1b\\x1b\\x1c\\x1c\\x1d\\x1e\\x1e\\x1f\\x1f\\x20\\x21\\x21\\x22\\x22\\x23\\x24\\x24\\x25\\x25\\x26\\x27\\x29\\x2a\\x2b\\x2c\\x2d\\x2e\\x2f\\x30\\x31\\x32\\x33\\x34\\x35\\x36\\x37\\x38\\x39\\x3a\\x3b\\x3b\\x3c\\x3e\\x3f\\x41\\x43\\x45\\x47\\x49\\x4b\\x4d\\x50\\x52\\x55\\x58\\x5b\\x5e\\x61\\x65\\x69\\x6d\\x71\\x75\\x7a\\x7f\\x84\\x89\\x8f\\x95\\x9b\\xa2\\xa9\\xb1\\xb9\\xc1\\xca\\xd3\\xdd\\xe8\\xf3\\xff')
+_arcScaling = 0
+_UNCONNECTEDERRORMSG = "Please connect to Maqueen robot and switch it on."
+_underglowNP = neopixel.NeoPixel(pin1, 4)
+_alarmSequence = ['c5:1', 'r', 'c5,1', 'r:3']
+_buff1 = bytearray(1)
+_buff2 = bytearray(2)
+_add_mq = 0x10
+_servoMinPulse=25
+_servoMaxPulse=131
+_lidarMode=8
+
+def _wr1(reg):
+    _buff1[0] = reg
+    i2c.write(_add_mq, _buff1)
+
+def _wr2(reg, val):
+    _buff2[0] = reg
+    _buff2[1] = val
+    i2c.write(_add_mq, _buff2)
+
+def _setMotors(dirL, powerL, dirR, powerR):
+    global _motorState
+    _motorState[1] = dirL
+    _motorState[2] = powerL
+    _motorState[3] = dirR
+    _motorState[4] = powerR
+    try:
+        i2c.write(0x10, _motorState)
+    except:
+        raise RuntimeError(_UNCONNECTEDERRORMSG)
+
+def _setSingleMotor(side, dir, power):
+    global _motorState
+    _motorState[1 + side] = dir
+    _motorState[2 + side] = power
+    try:
+        i2c.write(0x10, _motorState)
+    except:
+        raise RuntimeError(_UNCONNECTEDERRORMSG)
+
+def setSpeed(speed):
+    global _speedPercent
+    global _powerByteL
+    global _powerByteR
+    _speedPercent = int(min(max(speed,0),100))
+    _powerByteL = int(round(2.4*speed+14))
+    _powerByteR = int(round(2.4*speed+14))
+
+def resetSpeed():
+    setSpeed(50)
+
+def stop():
+    _setMotors(0,0,0,0)
+
+def forward():
+    _setMotors(0, _powerByteL, 0, _powerByteR)
+
+def backward():
+    _setMotors(1, _powerByteL, 1, _powerByteR)
+
+def left():
+    _setMotors(1, _powerByteL, 0, _powerByteR)
+    
+def right():
+    _setMotors(0, _powerByteL, 1, _powerByteR)
+
+def _getPowerByteLUT(speed, offset):
+    return min(_powerBytesLUT[speed] + offset, 255)
+
+def _getArcBytes(r):
+    rmm = int(r * 100)
+    outerSpeed = _speedPercent
+    if outerSpeed < 25:
+        outerSpeed = 25
+    reducedSpeed = 0
+    if rmm > 5:
+        n = outerSpeed * (3 * _arcScaling - outerSpeed - 9 * rmm + 220)
+        d = -14 * _arcScaling + outerSpeed - 200 + 3 * outerSpeed - 10 * rmm - 290
+        reducedSpeed = int(n/d)
+        if reducedSpeed < 2:
+            reducedSpeed = 2 if rmm > 15 else 1
+    innerByte = _getPowerByteLUT(int(reducedSpeed), 0)
+    outerByte = _getPowerByteLUT(int(outerSpeed), 0)
+    return (innerByte, outerByte)
+
+def rightArc(radius):
+    inner, outer = _getArcBytes(radius)
+    _setMotors(0, outer, 0, inner)
+
+
+def leftArc(radius):
+    inner, outer = _getArcBytes(radius)
+    _setMotors(0, inner, 0, outer)
+
+class Motor:
+    def __init__(self, side):
+        self._side = side
+
+    def rotate(self, speed):
+        speedClamped = int(min(max(abs(speed), 0), 100))
+        power = speedClamped
+        direction = 0 if speed > 0 else 1
+        _setSingleMotor(self._side, direction, power)
+
+def setServo(servo,angle):
+    if angle < 0 or angle >180:
+        raise ValueError("Invalid angle. Must be between 0 and 180")
+    if servo in ["P0", "S1"]:
+        pin = pin0
+    elif servo in ["P1", "S2"]:
+        pin = pin1
+    elif servo in ["P2", "S3"]:
+        pin = pin2
+    else:
+        raise ValueError("Valid servo names: S1, S2, S3 or P0, P1, P2")
+    frac = (_servoMaxPulse - _servoMinPulse) * int(angle)
+    offset = (frac >> 8)+ (frac >> 10) + (frac >> 11)+ (frac >> 12) # / 180
+    usPulseTime = _servoMinPulse + offset 
+    pin.set_analog_period(20)
+    pin.write_analog(usPulseTime)
+		
+class IRSensor:
+    _address = bytes(b'\\x1D') 
+
+    def __init__(self, index):
+        self.index = index
+
+    def read_digital(self):
+        try:
+            i2c.write(0x10, IRSensor._address)
+        except:
+            raise RuntimeError(_UNCONNECTEDERRORMSG)
+        byte = ~i2c.read(0x10, 1)[0]
+        return (byte & (2 ** self.index)) >> self.index
+
+    def read_analog(self):
+        try:
+            _wr1(0x1D)
+        except:
+            raise RuntimeError(_UNCONNECTEDERRORMSG)
+        buffer = i2c.read(0x10,11)
+        return buffer[2+2*self.index] << 8 | buffer[1+2*self.index]
+
+def setLEDs(rgbl, rgbr):
+    _wr2(11, rgbl)
+    _wr2(12, rgbr)
+
+def setLED(state, stateR=None):
+    stateR = stateR if stateR != None else state
+    setLEDs(state, stateR)
+	
+def setLEDLeft(rgbl):
+    _wr2(11, rgbl)
+	
+def setLEDRight(rgbr):
+    _wr2(12, rgbr)	
+
+def fillRGB(red, green, blue):
+    _underglowNP.clear()
+    _underglowNP.fill((red,green,blue))
+    _underglowNP.show()
+	
+def setRGB(r,g,b):
+    fillRGB(r,g,b)
+	
+def clearRGB():
+    _underglowNP.clear()
+
+def posRGB(position, red, green, blue):
+    if position < 0 or position > 3:
+        raise ValueError("invalid RGB-LED position. Must be 0,1,2 or 3.")
+    _underglowNP[position] = (red, green, blue)
+    _underglowNP.show()
+
+def setAlarm(state):
+    if state:
+        music.play(_alarmSequence, wait=False, loop=True)    
+    else:
+        music.stop() 
+
+def beep():
+    music.pitch(440, 200, wait=False)   
+
+def readLightIntensity(side):
+    _wr1(78)
+    LightBuffer = i2c.read(0x10, 4, repeat=False)
+    if side == 1:
+
+        return LightBuffer[0] << 8 | LightBuffer[1]
+    else:
+        return LightBuffer[2] << 8 | LightBuffer[3]
+
+def setPatrolSpeed(speed):
+    _wr2(63, speed)
+
+def setIntersectionRunMode(mode):
+    _wr2(69, mode)
+
+def setTRordRunMode(mode):
+    _wr2(70, mode)
+
+def setLeftOrStraightRunMode(mode):
+    _wr2(71, mode)
+
+def setRightOrStraightRunMode(mode):
+    _wr2(72, mode)
+
+def patrolling(patrol):
+    if patrol == 1:
+        val = 0x04 | 0x01
+    else:
+        val = 0x08
+    _wr2(60, val)
+   
+def intersectionDetecting():
+    _wr1(61)
+    data = i2c.read(0x10, 1)[0]
+    return data
+
+def pidControlDistance(dir, distance, interruption):
+    speed = 2
+    if distance >= 6000:
+        distance = 60000
+    _wr2(64, dir)
+    _wr2(85, speed)
+    _wr2(65, distance >> 8)
+    _wr2(66, distance)
+    _wr2(60, 0x04 | 0x02)
+    if (interruption == 1):
+        _wr1(0x57)
+        flagBuffer = i2c.read(0x10, 1)
+        while flagBuffer[0] == 1:
+            sleep(10)
+            flagBuffer = i2c.read(0x10, 1)
+
+def pidControlAngle(angle, interruption):
+    speed = 2
+    if angle >= 0:
+        buf = 1
+    else:
+        buf = 2
+        angle = -angle
+    _wr2(67, buf)
+    _wr2(86, speed)
+    _wr2(68, angle)
+    _wr2(60, 0x04 | 0x02)
+    if interruption == 1:
+        _wr1(0x57)
+        buff = i2c.read(0x10, 1)
+        while buff[0] == 1:
+            sleep(10)
+            buff = i2c.read(0x10, 1)
+
+def pidControlStop():
+    _wr2(60, 0x10)
+
+def readRealTimeSpeed(type):
+    _wr2(76, 1)
+    buff = i2c.read(0x10, 2)
+    if type == 1:
+        return buff[0] / 5
+    else:
+        return buff[1] / 5
+
+def _sendLidarCommand(cmd, args=[]):
+    args_len = len(args)
+    packet_len = args_len + 1 
+    packet = bytearray(4 + args_len) 
+    packet[0] = 0x55
+    packet[1] = (packet_len >> 8) & 0xFF
+    packet[2] = packet_len & 0xFF
+    packet[3] = cmd
+    for i, arg in enumerate(args):
+        packet[4 + i] = arg
+    # chunkwise sending? TODO
+    i2c.write(0x33, packet)
+
+def _receiveLidarData(expectedCommand):
+    TIMEOUT = 1000
+    MAX_SIZE = 32
+    start_time = running_time()
+    success = False
+    data = None
+    started = False
+
+    while running_time() - start_time < TIMEOUT and started == False:
+        status = i2c.read(0x33, 1)[0] 
+        if status == 0x53: 
+            started = True
+        elif status == 0x63: 
+            return success, data
+        sleep(16)
+
+    if started == True:
+        header = i2c.read(0x33, 3) 
+        cmd = header[0]
+        data_length = header[1] | (header[2] << 8)
+
+        if cmd == expectedCommand:
+            success = True
+            data = bytearray()
+            remaining_bytes = data_length
+            chunk_size = min(remaining_bytes, MAX_SIZE)
+            while running_time() - start_time < TIMEOUT and remaining_bytes > 0:
+                try:
+                    chunk = i2c.read(0x33, chunk_size)
+                    data.extend(chunk)
+                    remaining_bytes -= len(chunk)
+                except:
+                    sleep(1)
+    return success, data
+
+def setLidarMode(mode=8):
+    global _lidarMode
+    if mode not in [4, 8]:
+        raise ValueError("Lidar mode must be 4 or 8")
+    mode_text = "4x4" if mode == 4 else "8x8"
+    print("Switching Lidar Mode to " + mode_text + ".\\nPlease wait up to 10 seconds.")
+    success = False
+
+    for i in range(10):
+        _sendLidarCommand(1, [0, 0, 0, mode])
+        success, _ = _receiveLidarData(1)
+
+        if success == True: break
+        sleep(17)
+
+    if success:
+        _lidarMode = mode
+        sleep(5000)
+    else:
+        raise RuntimeError("Failed to switch Lidar Mode")
+
+def getDistanceAt(x_pos, y_pos):
+    _sendLidarCommand(0x3, [x_pos, y_pos])
+    success, data = _receiveLidarData(0x3)
+    if success and len(data) >= 2:
+        distance = (data[0] | (data[1] << 8)) // 10
+        return distance
+    else:
+        return 1023
+
+def getDistanceList():
+    _sendLidarCommand(0x2)
+    success, data = _receiveLidarData(0x2)
+    if success and len(data) >= 32:
+        distList = []
+        for i in range(0,len(data),2):
+            d = data[i] | (data[i+1] << 8)
+            distList.append(d // 10)
+        return distList
+    else:
+        return []
+
+def getDistance():
+    global _lidarMode
+    mid = int(_lidarMode/2)
+    topLeft = getDistanceAt(mid-1, mid-1)
+    topRight = getDistanceAt(mid, mid-1)
+    bottomLeft = getDistanceAt(mid-1, mid)
+    bottomRight = getDistanceAt(mid, mid)
+    distanceList = [topLeft, topRight, bottomLeft, bottomRight]
+    return min(distanceList)
+
+		
+def getDistanceGrid():
+    _sendLidarCommand(0x2)
+    success, data = _receiveLidarData(0x2)
+    if success and len(data) >= 32:
+        distGrid = []
+        stride = 16 if len(data) == 128 else 8
+        for i in range(0,len(data),stride):
+            row = []
+            for j in range(0,stride,2):
+                d = data[i+j] | (data[i+j+1] << 8)
+                row.append(d // 10)
+            distGrid.append(row)
+        return distGrid
+    else:
+        return []
+
+def getDistanceColumn(index):
+    _sendLidarCommand(0x5, [index])
+    success, data = _receiveLidarData(0x5)
+    if success and len(data) >= 8:
+        row = []
+        for i in range(0, len(data), 2):
+            distance = data[i] | (data[i+1] << 8)
+            row.append(distance // 10)
+        return row
+    return []
+
+def getDistanceRow(index):
+    _sendLidarCommand(0x6, [index])
+    success, data = _receiveLidarData(0x6)
+    if success and len(data) >= 8:
+        col = []
+        for i in range(0, len(data), 2):
+            distance = data[i] | (data[i+1] << 8)
+            col.append(distance // 10)
+        return col
+    return []
+
+    
+pin2.set_pull(pin2.NO_PULL)
+delay = sleep
+irR2 = IRSensor(0)
+irR1 = IRSensor(1)
+irRight = irR1
+irM = IRSensor(2)
+irL1 = IRSensor(3)
+irLeft = irL1
+irL2 = IRSensor(4)
+motL = Motor(0)
+motR = Motor(2)`,
+  mbmarsrover: "from microbit import *\nfrom neopixel import *\nimport utime\n\n_servoArray = [0, 9, 11, 13, 15]\n_servoOffset = [0, 0, 0, 0, 0]\n_initI2C = False\n\n_nbLeds = 4\n_np = NeoPixel(pin2, _nbLeds)\n\n_speedPercent = 50\n_powerByteL = 40\n_powerByteR = 40\n\n_powerOffset = 0\n_powerDifferential = 0\n_arcScaling = 0\n\n_MAX_CM_DISTANCE = 500\n_CM_PER_MICROSECOND = 29.1\n\n\ndef _setMotors(dirL, powerL, dirR, powerR):\n    pinsL = (pin1, pin12)\n    pinsR = (pin8, pin0)\n\n    pinsL[dirL].write_analog(powerL)\n    pinsL[1 - dirL].write_analog(0)\n\n    pinsR[dirR].write_analog(powerR)\n    pinsR[1 - dirR].write_analog(0)\n\n\ndef _setSingleMotor(side, direction, power):\n    if side == 0:\n        pins = (pin1, pin12)\n    elif side == 1:\n        pins = (pin8, pin0)\n\n    pins[direction].write_analog(power)\n    pins[1 - direction].write_analog(0)\n\n\ndef _getArcBytes(r):\n    outerSpeed = _speedPercent\n    rCm = int(r * 100)\n    threshold = outerSpeed - max(rCm + 20, 40)\n    if (threshold <= 0):\n        outerSpeed = min(max(rCm + 40, 40), 100)\n    reducedSpeed = 0\n    if rCm >= 4:\n        flattening = (100 - outerSpeed) // 2\n        reducedSpeed = (rCm * 10 - 35) / \\\n            (rCm * (11 + (_arcScaling - 4) / 10) + 90 + flattening)\n        reducedSpeed = reducedSpeed * outerSpeed\n    innerByte = _convertSpeedToAnalogValue(int(reducedSpeed), 0)\n    outerByte = _convertSpeedToAnalogValue(int(outerSpeed), 0)\n    return (innerByte, outerByte)\n\n\ndef _initPCA():\n    global _initI2C\n    _initI2C = True\n    i2cData = bytearray(2)\n    i2cData[0] = 0\n    i2cData[1] = 0x10\n    i2c.write(0x40, i2cData)\n\n    i2cData[0] = 0xFE\n    i2cData[1] = 101\n    i2c.write(0x40, i2cData)\n\n    i2cData[0] = 0\n    i2cData[1] = 0x81\n    i2c.write(0x40, i2cData)\n\n\ndef _pulse_in(pin, value, timeout):\n    start_time = utime.ticks_us()\n\n    while pin.read_digital() != value:\n        if utime.ticks_diff(utime.ticks_us(), start_time) > timeout:\n            return 0\n\n    start_time = utime.ticks_us()\n    while pin.read_digital() == value:\n        if utime.ticks_diff(utime.ticks_us(), start_time) > timeout:\n            return 0\n\n    return utime.ticks_diff(utime.ticks_us(), start_time)\n\n\ndef calibrate(offset, differential=0, arcScaling=0):\n    global _powerDifferential\n    global _powerOffset\n    global _arcScaling\n\n    _powerOffset = max(min(int(offset), 500), -50)\n    _powerDifferential = max(min(int(differential), 150), -150)\n    _arcScaling = max(min(arcScaling, 50), -15)\n    setSpeed(_speedPercent)\n\n\ndef setSpeed(speed):\n    global _speedPercent\n    global _powerByteL\n    global _powerByteR\n\n    _speedPercent = int(min(max(speed, 0), 100))\n    powerValue = _convertSpeedToAnalogValue(_speedPercent, _powerOffset)\n    boost = round((1 - _speedPercent / 100) *\n                  abs(_powerDifferential)) if _speedPercent > 0 else 0\n    reduction = round((_speedPercent / 100) * abs(_powerDifferential))\n    if _powerDifferential > 0:\n        _powerByteL = powerValue - reduction\n        _powerByteR = powerValue + boost\n    else:\n        _powerByteL = powerValue + boost\n        _powerByteR = powerValue - reduction\n\n\ndef _convertSpeedToAnalogValue(speed, offset):\n    analogValue = int(speed * 1023 / 100) + offset\n    return min(max(analogValue, 0), 1023)\n\n\ndef stop():\n    _setMotors(0, 0, 0, 0)\n\n\ndef forward():\n    _setMotors(0, _powerByteL, 0, _powerByteR)\n\n\ndef backward():\n    _setMotors(1, _powerByteL, 1, _powerByteR)\n\n\ndef setServo(servoNum, angle):\n    global _servoArray, _initI2C\n    if _initI2C == False:\n        _initPCA()\n    offsetNum = servoNum\n    servoNum = _servoArray[servoNum]\n    i2cData = bytearray(2)\n    start = 0\n    angle = max(min(angle, 90), -90)\n    stop = 396 + (angle + _servoOffset[offsetNum]) * 223 / 90\n    i2cData[0] = 0x06 + servoNum * 4 + 2\n    i2cData[1] = int(stop) + 0xff\n    i2c.write(0x40, i2cData)\n\n    i2cData[0] = 0x06 + servoNum*4 + 3\n    i2cData[1] = int(stop) >> 8\n    i2c.write(0x40, i2cData)\n\n\ndef clearServos():\n    setServo(0, 0)\n    setServo(1, 0)\n    setServo(2, 0)\n    setServo(3, 0)\n    setServo(4, 0)\n    sleep(500)\n\n\ndef steer(angle):\n    angle = max(min(angle, 45), -45)\n    setServo(1, angle)\n    setServo(2, -angle)\n    setServo(3, -angle)\n    setServo(4, angle)\n    sleep(500)\n\n\ndef setLED(pos, red, green, blue):\n    _np[pos] = (red, green, blue)\n    _np.show()\n\n\ndef fill(red, green, blue):\n    for i in range(_nbLeds):\n        _np[i] = (red, green, blue)\n    _np.show()\n\n\ndef getDistance():\n    trig = pin13\n    echo = pin13\n\n    d = 10\n\n    trig.set_pull(trig.NO_PULL)\n\n    for _ in range(10):\n        trig.write_digital(0)\n        utime.sleep_us(2)\n        trig.write_digital(1)\n        utime.sleep_us(10)\n        trig.write_digital(0)\n\n        duration = _pulse_in(echo, 1, _MAX_CM_DISTANCE * _CM_PER_MICROSECOND)\n        if duration > 0:\n            d = duration\n            break\n\n    return round(d / _CM_PER_MICROSECOND)\n\n\ndef calibrateServo(pos, angleDifferential):\n    global _servoOffset\n\n    angleDifferential = max(min(angleDifferential, 90), -90)\n    _servoOffset[pos] = angleDifferential\n    clearServos()\n",
+  mbrobotmot: '# mbrobotmot.py\n# Version 1.2, Aug 9, 2019\n\nimport gc\nfrom microbit import i2c, pin1, pin2, pin8, pin12, pin13, pin14, sleep\nimport machine\n\nclass Motor:\n    def __init__(self, id):\n        self._id = 2 * id\n\n    def rotate(self, s):\n        v = abs(s)\n        if s > 0:\n            self._w(0, v)    \n        elif s < 0:\n            self._w(1, v) \n        else:   \n            self._w(0, 0)    \n        \n\n    def _w(self, d, s):\n        try:\n            i2c.write(0x10, bytearray([self._id, d, s]))\n        except:\n            print("Please switch on mbRobot!")\n            while True:\n                pass\n\ndelay = sleep\n\ndef getDistance():\n    pin1.write_digital(1)\n    pin1.write_digital(0)\n    p = machine.time_pulse_us(pin2, 1, 50000)\n    cm = int(p / 58.2 + 0.5)\n    return cm if cm > 0 else 255\n\ndef setLED(on):\n    pin8.write_digital(on)\n    pin12.write_digital(on)\n\npin2.set_pull(pin2.NO_PULL)\nirLeft = pin13\nirRight = pin14\nledLeft = pin8\nledRight = pin12\nmotL = Motor(0)\nmotR = Motor(1)',
+  controller: '# Controller v1.0, Date 21.06.24\n# Enables easy use of the DFRobot Micro:bit GamePad by simulating buttons the same way as the microbit internal ones.\nfrom microbit import run_every, pin13, pin14, pin15, pin16, pin8, pin1, pin2, pin12, button_a, button_b, sleep\n\nclass _Controller_Button:\n    #""" Simulated Button for regular pins with same functionality as the micro:bit buttons a and b."""\n    \n    def __init__(self, pin):\n        # """create a new simulated button from a digital pin\n\n        #     Parameter:\n        #     pin (MicroBitDigitalPin): pin to use as button\n        # """\n        self._pin = pin\n        self.previous_state = 0\n        self._press_count = 0\n        self._pressed_before = False\n        pin.set_pull(pin.PULL_UP)\n    \n    def _update_state(self):\n        # """ internally update the buttons state."""\n        current_state = 1 - self._pin.read_digital()\n        \n        if current_state == 1 and self.previous_state == 0: # Low -> High\n            self._press_count += 1\n            self._pressed_before = True\n        \n        self.previous_state = current_state\n\n    def is_pressed(self):\n        # """ check if the button is currently pressed.\n\n        #     Returns:\n        #         bool: if button is currently pressed.\n        # """\n        return False if self._pin.read_digital() else True\n    \n    def was_pressed(self):\n        # """ check if button was pressed down before. Resets upon call. \n\n        #     Returns:\n        #         bool: True if button was pressed down after last call of this function.\n        # """\n        state = self._pressed_before\n        self._pressed_before = False\n        return state\n    \n    def get_presses(self):\n        # """ get the amount of button presses since last call.\n        \n        #     Returns:\n        #         int: number of button (down) presses since last call of this function.\n        # """\n        count = self._press_count\n        self._press_count = 0\n        return count\n\nclass _Controller_Analog_Stick:\n    # """ class that encapsulates the right analog stick of the controller. \n    #    This includes the turning in an xy-plane and the pressing (z-button)."""\n\n    def __init__(self, pinX, pinY, pinZ):\n        # """ creates a new analog-stick given its input pins.\n        \n        #     Parameters:\n        #         pinX (MicroBitAnalogDigitalPin): The pin to use for the x-axis (left-right).\n        #         pinY (MicroBitAnalogDigitalPin): The pin to use for the y-axis (up-down).\n        #         pinZ (MicroBitDigitalPin): The pin to use for the z-button.\n        # """\n        self.pin_x = pinX\n        self.pin_y = pinY\n        self.button_z = _Controller_Button(pinZ)\n        self.dead_zone = 0.01\n        self.center_x = 0\n        self.center_y = 0\n        self.min_x = -1\n        self.max_x = 1\n        self.min_y = -1\n        self.max_y = 1\n    \n    def calibrate(self, dead_zone, \n                  center_x=0.0, center_y=0.0, \n                  x_min=-1.0, x_max=1.0, \n                  y_min=-1.0, y_max=1.0):\n        # """ calibrate the analog-stick to remove drift (nonzero values even in resting position) \n        # and rescale to full [-1,1] range for the xy-inputs.\n        \n        # After calibration, the analog-stick \n        #       - does not react (returns 0) until it exceeds a value above the "dead_zone" range.\n        #       - returns values in the range [-1, 1] when pushed to the extremes and 0 at rest.\n        \n        # Parameters:\n        #     dead_zone (int): range of xy-values (negative too) that should be mapped to 0. \n        #                      Default: 0.01 \n        #     center_x (int):  returned value for get_x, when the stick is not moved (before calibration). \n        #                      Default: 0.0\n        #     center_y (int):  returned value for get_y, when the stick is not moved (before calibration). \n        #                      Default: 0.0\n        #     x_min (int):     minimal possible value for x (before calibration). Default: -1.0\n        #     x_max (int):     maximal possible value for x (before calibration). Default:  1.0\n        #     y_min (int):     minimal possible value for y (before calibration). Default: -1.0\n        #     y_max (int):     maximal possible value for y (before calibration). Default:  1.0\n        # """\n        self.dead_zone = min(0.2, max(0.01,dead_zone))\n        self.center_x = min(0.4, max(-0.4,center_x))\n        self.center_y = min(0.5, max(-0.5,center_y))\n        self.min_x = min(-0.5, max(-1.0,x_min))\n        self.max_x = min(1.0, max(0.5,x_max))\n        self.min_y = min(-0.5, max(-1.0,y_min))\n        self.max_y = min(1.0, max(0.5,y_max))\n\n    def _remap(self, value, center, v_min, v_max):\n        # """ internal function that applies remapping of the values according to the calibration.\n        # The returned value will live in a possible space from [-1,1] with center at 0.\n        \n        # Parameters:\n        #     value (float): the input value to remap to the desired range.\n        #     center (float): the resting value before calibration.\n        #     v_min (float): the minimally attainable value before calibration.\n        #     v_max (float): the maximally attainable value before calibration.\n\n        # Returns:\n        #     v (float): remapped parameter value according to calibration.\n        # """\n        v = value - 1.0 - center\n        if abs(v) - self.dead_zone/2.0 > 0.0:\n            if v < 0.0:\n                v = v / abs(v_min - center)\n            else:\n                v = v / abs(v_max - center)\n        v = min(1.0, max(-1.0, v))\n        v = 0.0 if abs(v) <= self.dead_zone else v\n        return v\n\n    def get_x(self):\n        # """ get the current x-axis value of the analog stick.\n        \n        # Returns:\n        #     (float): position of x-axis in range [-1,1] (left to right). 0 is resting position. (after calibration)\n        # """\n        v_raw = (self.pin_x.read_analog() / 512.0)\n        v = self._remap(v_raw, self.center_x, self.min_x, self.max_x)\n        return v\n\n    def get_y(self):\n        # """ get the current y-axis value of the analog stick.\n        \n        # Returns:\n        #     (float): position of y-axis in range [-1,1] (down to up). 0 is resting position. (after calibration)\n        # """\n        v_raw = (self.pin_y.read_analog() / 512.0)\n        v = self._remap(v_raw, self.center_y, self.min_y, self.max_y)\n        return v\n\n    def get_z(self):\n        # """ get the current z-button state as an int. 1 = pressed, 0 = not pressed. """\n        return 1 if self.button_z.is_pressed() else 0\n\n    def is_pressed(self):\n        # """ returns if the z-button is currently pressed as a bool."""\n        return self.button_z.is_pressed()\n    \n    def was_pressed(self):\n        # """ returns if the z-button was pressed (down) before the last call to this function."""\n        return self.button_z.was_pressed()\n    \n    def get_presses(self):\n        # """ returns how often the z-button was pressed (down) before the last call to this function."""\n        return self.button_z.get_presses()\n\n# Controller LED and vibration motor\ndef vibrate(state):\n    # """ Set the state of the controllers vibration motor. 0=Off, 1=On.\n    # Also affects the controllers blue LED next to the motor. """\n    pin12.write_digital(state)\n\n# Left side of controller (black joystick)\njoystick = _Controller_Analog_Stick(pin1, pin2, pin8)\n# also make the joystick button accessible independently.\nbutton_z = joystick.button_z\n\n# Right side of controller (4 colored buttons)\nbutton_c = _Controller_Button(pin13)\nbutton_green = button_c\nbutton_d = _Controller_Button(pin14)\nbutton_yellow = button_d\nbutton_e = _Controller_Button(pin15)\nbutton_red = button_e\nbutton_f = _Controller_Button(pin16)\nbutton_blue = button_f\n\n# Back side of controller (2 white buttons, same as default buttons)\ntrigger_left = button_a\ntrigger_right = button_b\n\n\ndef _update_controller_buttons():\n    # """ function to be called repeatedly that updates the state of all the controllers buttons. \n    # It is necessary to run this function regularly to simulate the standard microbit button behaviour. """\n    global button_c\n    global button_d\n    global button_e\n    global button_f\n    global joystick\n\n    button_c._update_state()\n    button_d._update_state()\n    button_e._update_state()\n    button_f._update_state()\n    joystick.button_z._update_state()\n\nrun_every(_update_controller_buttons, days=0, h=0, min=0, s=0, ms=33) # ~30 Updates per Second\n',
+  mbxgo: "from microbit import *\n\n_speed = 50\n_XGOInit = False\n_TX = pin14\n_RX = pin13\n\n\ndef checkInit(func):\n    def wrapper(*args, **kwargs):\n        global _XGOInit\n        if not _XGOInit:\n            init_xgo_serial(_TX, _RX)\n        return func(*args, **kwargs)\n    return wrapper\n\n\ndef _map(speed, in_min, in_max, out_min, out_max):\n    return (speed - in_min) * (out_max - out_min) // (in_max - in_min) + out_min\n\n\n@checkInit\ndef _move(direction, speed):\n    move_buffer = bytearray(9)\n    move_buffer[0] = 0x55\n    move_buffer[1] = 0x00\n    move_buffer[2] = 0x09\n    move_buffer[3] = 0x00\n    move_buffer[7] = 0x00\n    move_buffer[8] = 0xAA\n\n    speed = max(0, min(100, speed))\n\n    if direction == 0:\n        move_buffer[4] = 0x30\n        move_buffer[5] = _map(speed, 0, 100, 128, 255)\n    elif direction == 1:\n        move_buffer[4] = 0x30\n        move_buffer[5] = _map(speed, 0, 100, 128, 0)\n    elif direction == 2:\n        move_buffer[4] = 0x31\n        move_buffer[5] = _map(speed, 0, 100, 128, 0)\n    elif direction == 3:\n        move_buffer[4] = 0x31\n        move_buffer[5] = _map(speed, 0, 100, 128, 255)\n\n    move_buffer[6] = ~(0x09 + 0x00 + move_buffer[4] + move_buffer[5]) & 0xFF\n\n    uart.write(move_buffer)\n\n\n@checkInit\ndef clampX(milimeters=50):\n    clampBuffer = bytearray(9)\n    clampBuffer[0] = 0x55\n    clampBuffer[1] = 0x00\n    clampBuffer[2] = 0x09\n    clampBuffer[3] = 0x00\n    clampBuffer[4] = 0x73\n    clampBuffer[7] = 0x00\n    clampBuffer[8] = 0xAA\n\n    clampBuffer[5] = milimeters\n    clampBuffer[6] = ~(0x09 + 0x00 + 0x73 + clampBuffer[5]) & 0xFF\n\n    uart.write(clampBuffer)\n    sleep(1000)\n\n\n@checkInit\ndef clampZ(milimeters=50):\n    clampBuffer = bytearray(9)\n    clampBuffer[0] = 0x55\n    clampBuffer[1] = 0x00\n    clampBuffer[2] = 0x09\n    clampBuffer[3] = 0x00\n    clampBuffer[4] = 0x74\n    clampBuffer[7] = 0x00\n    clampBuffer[8] = 0xAA\n\n    clampBuffer[5] = milimeters\n    clampBuffer[6] = ~(0x09 + 0x00 + 0x74 + clampBuffer[5]) & 0xFF\n\n    uart.write(clampBuffer)\n    sleep(1000)\n\n\n@checkInit\ndef clamp(force):\n    clampBuffer = bytearray(9)\n    clampBuffer[0] = 0x55\n    clampBuffer[1] = 0x00\n    clampBuffer[2] = 0x09\n    clampBuffer[3] = 0x00\n    clampBuffer[4] = 0x71\n    clampBuffer[7] = 0x00\n    clampBuffer[8] = 0xAA\n\n    clampBuffer[5] = force\n    clampBuffer[6] = ~(0x09 + 0x00 + 0x71 + clampBuffer[5]) & 0xFF\n\n    uart.write(clampBuffer)\n    sleep(1000)\n\n\ndef init_xgo_serial(tx_pin, rx_pin, baudrate=115200):\n    global _XGOInit\n    uart.init(baudrate=baudrate, tx=tx_pin, rx=rx_pin)\n    init_action()\n    _XGOInit = True\n\n\ndef init_action():\n    commands_buffer = bytearray(9)\n    commands_buffer[0] = 0x55\n    commands_buffer[1] = 0x00\n    commands_buffer[2] = 0x09\n    commands_buffer[3] = 0x00\n    commands_buffer[4] = 0x3E\n    commands_buffer[5] = 0xFF\n    commands_buffer[6] = ~(0x09 + 0x00 + 0x3E + 0xFF) & 0xFF\n    commands_buffer[7] = 0x00\n    commands_buffer[8] = 0xAA\n\n    uart.write(commands_buffer)\n    sleep(2000)\n\n\n@checkInit\ndef action(id):\n    commands_buffer = bytearray(9)\n    commands_buffer[0] = 0x55\n    commands_buffer[1] = 0x00\n    commands_buffer[2] = 0x09\n    commands_buffer[3] = 0x00\n    commands_buffer[4] = 0x3E\n    commands_buffer[5] = id\n    commands_buffer[6] = ~(0x09 + 0x00 + 0x3E + id) & 0xFF\n    commands_buffer[7] = 0x00\n    commands_buffer[8] = 0xAA\n\n    uart.write(commands_buffer)\n    sleep(2000)\n\n\ndef changeInit(tx, rx):\n    global _TX\n    global _RX\n    _TX = tx\n    _RX = rx\n    init_xgo_serial(_TX, _RX)\n\n\n@checkInit\ndef setSpeed(speed):\n    global _speed\n    _speed = speed\n\n\ndef forward():\n    _move(0, _speed)\n\n\ndef backward():\n    _move(1, _speed)\n\n\ndef left():\n    _move(2, _speed)\n\n\ndef right():\n    _move(3, _speed)\n",
+  mbglow: '# mbglow.py\n# V1.5, June 30, 2018\n# Module for a crash course in Python\n# An implementation of a glowbug, firefly (Leuchtkaefer)\n\nfrom microbit import *\n\n_x = 0\n_y = 0\n_dir = 0\n_speed = 50\n_trace = True\n_visible = False\n\ndef makeGlow():\n   global _visible\n   display.set_pixel(2, 2, 9)\n   _visible = True\n\ndef clear():\n    display.clear()\n    \ndef forward():    \n    _forward(1)\n\ndef back():    \n    _forward(-1)\n    \ndef right(angle):\n    global _dir\n    _dir = (_dir + angle) % 360\n\ndef left(angle):\n    right(-angle)\n\ndef setPos(x, y):\n    global _x, _y\n    _x = x\n    _y = y\n    _render()\n\ndef getPos():\n    return _x, _y\n\ndef setSpeed(speed):\n    global _speed\n    _speed = speed\n    \ndef showTrace(enable):\n    global _trace\n    _trace = enable    \n\ndef isLit():\n    return (display.get_pixel(_x + 2, 4 - (_y + 2)) == 9)\n   \ndef _forward(s):\n    global _x, _y\n    sleep(2000 - _speed * 20)\n    d = _dir // 45\n    if d in [1, 2, 3]:    \n        _x += s\n    if d in [5, 6, 7]:    \n        _x -= s\n    if d in [0, 1, 7]:    \n        _y += s\n    if d in [3, 4, 5]:    \n        _y -= s\n    _render()\n\ndef _render():\n    if not _visible:\n       print("Use \\"makeGlow()\\" to create a Glow.")\n       raise Exception("Glow not initialized.")\n    if not _trace:\n        display.clear()\n    if -2 <= _x <= 2 and -2 <= _y <= 2:    \n        display.set_pixel(_x + 2, 4 - (_y + 2), 9)',
+  mbthetabot: "from microbit import *\nfrom utime import ticks_us, sleep_us\nfrom neopixel import *\n\n_speedPercent = 50\n_powerByteL = 40\n_powerByteR = 40\n_powerBytesLUT = bytes(b'\\x00\\x0b\\x0b\\x0c\\x0c\\x0d\\x0d\\x0d\\x0e\\x0e\\x0f\\x0f\\x0f\\x10\\x10\\x11\\x11\\x11\\x12\\x12\\x13\\x13\\x13\\x14\\x14\\x15\\x15\\x15\\x16\\x16\\x17\\x17\\x17\\x18\\x19\\x1a\\x1b\\x1b\\x1c\\x1d\\x1e\\x1f\\x20\\x21\\x22\\x23\\x23\\x24\\x25\\x26\\x27\\x28\\x29\\x2a\\x2b\\x2b\\x2c\\x2d\\x2e\\x2f\\x30\\x31\\x32\\x33\\x34\\x36\\x38\\x3a\\x3c\\x3f\\x41\\x44\\x46\\x49\\x4c\\x4f\\x53\\x56\\x5a\\x5e\\x62\\x67\\x6b\\x70\\x75\\x7b\\x81\\x87\\x8d\\x94\\x9b\\xa3\\xab\\xb4\\xbd\\xc6\\xd0\\xdb\\xe6\\xf2\\xff')\n\n_powerOffset = 0\n_powerDifferential = 0\n_arcScaling = 0\n\n_ADDR_ATM = 0x22\n_nbLeds = 14\n\n\ndef _setMotors(dirL, powerL, dirR, powerR):\n    pinsL = (pin14, pin13)\n    pinsR = (pin16, pin15)\n\n    pinsL[dirL].write_analog(powerL)\n    pinsL[1 - dirL].write_analog(0)\n\n    pinsR[dirR].write_analog(powerR)\n    pinsR[1 - dirR].write_analog(0)\n\n\ndef _setSingleMotor(side, direction, power):\n    if side == 0:\n        pins = (pin14, pin13)\n    elif side == 2:\n        pins = (pin16, pin15)\n\n    pins[direction].write_analog(power)\n    pins[1 - direction].write_analog(0)\n\n\ndef _getArcBytes(r):\n    outerSpeed = _speedPercent\n    rCm = int(r * 100)\n    threshold = outerSpeed - max(rCm + 20, 40)\n    if threshold <= 0:\n        outerSpeed = min(max(rCm + 40, 40), 100)\n    reducedSpeed = 0\n    if rCm >= 4:\n        flattening = (100 - outerSpeed) // 2\n        reducedSpeed = (rCm * 10 - 35) / \\\n            (rCm * (11 + (_arcScaling-4)/10) + 90 + flattening)\n        reducedSpeed = reducedSpeed * outerSpeed\n    innerByte = _getPowerByteLUT(int(reducedSpeed), 0)\n    outerByte = _getPowerByteLUT(int(outerSpeed), 0)\n    return (innerByte, outerByte)\n\n\ndef calibrate(offset, differential=0, arcScaling=0):\n    global _powerDifferential\n    global _powerOffset\n    global _arcScaling\n\n    _powerOffset = max(min(int(offset), 150), -10)\n    _powerDifferential = max(min(int(differential), 150), -150)\n    _arcScaling = max(min(arcScaling, 50), -15)\n    setSpeed(_speedPercent)\n\n\ndef setSpeed(speed):\n    global _speedPercent\n    global _powerByteL\n    global _powerByteR\n\n    _speedPercent = int(min(max(speed, 0), 100))\n    powerByte = _getPowerByteLUT(_speedPercent, _powerOffset)\n    boost = round((1 - _speedPercent / 100) *\n                  abs(_powerDifferential)) if _speedPercent > 0 else 0\n    reduction = round((_speedPercent / 100) * abs(_powerDifferential))\n    if _powerDifferential > 0:\n        _powerByteL = powerByte - reduction\n        _powerByteR = powerByte + boost\n    else:\n        _powerByteL = powerByte + boost\n        _powerByteR = powerByte - reduction\n\n\ndef _getPowerByteLUT(speed, offset):\n    speedIndex = int(speed * (len(_powerBytesLUT) - 1) / 100)\n    return min(_powerBytesLUT[speedIndex] + offset, 1023)\n\n\ndef stop():\n    _setMotors(0, 0, 0, 0)\n\n\ndef forward():\n    _setMotors(0, _powerByteL, 0, _powerByteR)\n\n\ndef backward():\n    _setMotors(1, _powerByteL, 1, _powerByteR)\n\n\ndef left():\n    _setMotors(1, _powerByteL, 0, _powerByteR)\n\n\ndef right():\n    _setMotors(0, _powerByteL, 1, _powerByteR)\n\n\ndef rightArc(radius):\n    inner, outer = _getArcBytes(radius)\n    _setMotors(0, outer, 0, inner)\n\n\ndef leftArc(radius):\n    inner, outer = _getArcBytes(radius)\n    _setMotors(0, inner, 0, outer)\n\n\ndef getDistance():\n    pin12.write_digital(1)\n    sleep_us(10)\n    pin12.write_digital(0)\n    pin12.set_pull(pin15.NO_PULL)\n    while pin12.read_digital() == 0:\n        pass\n    start = ticks_us()\n    while pin12.read_digital() == 1:\n        pass\n    end = ticks_us()\n    echo = end-start\n    distance = int(0.01715 * echo)\n    return distance\n\n\ndef setLED(position, red, green, blue):\n    global _ADDR_ATM\n    i2c_data = bytearray(5)\n\n    i2c_data[0] = 1\n\n    i2c_data[1] = position\n\n    i2c_data[2] = red\n    i2c_data[3] = green\n    i2c_data[4] = blue\n\n    i2c.write(_ADDR_ATM, i2c_data)\n\n\ndef fill(red, green, blue):\n    for position in range(_nbLeds):\n        setLED(position, red, green, blue)\n\n\ndef readLine(side):  # 0=left 1=right\n    i2c.write(_ADDR_ATM, bytearray([side + 1]), False)\n    result = i2c.read(_ADDR_ATM, 2)\n    result = result[0] + (result[1] << 8)\n    return result\n\n\ndef readLight(side):  # 0=left 1=right\n    i2c.write(_ADDR_ATM, bytearray([side + 3]), False)\n    result = i2c.read(_ADDR_ATM, 2)\n    result = result[0] + (result[1] << 8)\n    return result\n",
+  mbrobot_legacy: 'import gc\nfrom microbit import i2c, pin1, pin2, pin8, pin12, pin13, pin14, sleep\nimport machine\n\n_axe = 0.097\ndef w(d1, d2, s1, s2):\n    try:\n        i2c.write(0x10, bytearray([0, d1, s1]))\n        i2c.write(0x10, bytearray([2, d2, s2]))\n    except:\n        print("Please switch on mbRobot!")\n        while True:\n            pass\n    \ndef setSpeed(speed):\n    global _v\n    if speed < 20:\n        _v = speed + 5\n    else:\n        _v = speed    \n\ndef forward():\n    w(0, 0, _v, _v)\n\ndef backward():\n    w(1, 1, _v, _v)\n    \ndef stop():\n    w(0, 0, 0, 0)\n        \ndef right():\n    w(0 if _v > 0 else 1, 1 if _v > 0 else 0, int(_v * 0.9), int(_v * 0.9))  \n\ndef left():\n    w(1 if _v > 0 else 0, 0 if _v > 0 else 1, int(_v * 0.9) , int(_v * 0.9))\n\ndef rightArc(r):\n    v = abs(_v)\n    if r < _axe:\n        v1 = 0\n    else:            \n        f = (r - _axe) / (r + _axe) * (1 - v * v / 200000)             \n        v1 = int(f * v)\n    if _v > 0:\n        w(0, 0, v, v1)\n    else:\n        w(1, 1, v1, v)\n\ndef leftArc(r):\n    v = abs(_v)\n    if r < _axe:\n        v1 = 0\n    else:\n        f = (r - _axe) / (r + _axe) * (1 - v * v / 200000)                \n        v1 = int(f * v)\n    if _v > 0:\n        w(0, 0, v1, v)\n    else:\n        w(1, 1, v, v1)\n\nexit = stop\ndelay = sleep\n\ndef getDistance():\n    pin1.write_digital(1)\n    pin1.write_digital(0)\n    p = machine.time_pulse_us(pin2, 1, 50000)\n    cm = int(p / 58.2 + 0.5)\n    return cm if cm > 0 else 255\n\ndef setLED(on):\n    pin8.write_digital(on)\n    pin12.write_digital(on)\n    \ndef setServo(S, Angle):\n    if S == "S1":\n        Servo = 0x14\n    if S == "S2":\n        Servo = 0x15\n    buf = Servo, Angle\n    i2c.write(0x10, bytes(buf))    \n\npin2.set_pull(pin2.NO_PULL)\n_v = 50 # entspricht default 50\nirLeft = pin13\nirRight = pin14\nledLeft = pin8\nledRight = pin12\n\nforward()',
+  mbalarm: "# mbalarm.py\n\nimport music\n\n_m = ['c6:1', 'r', 'c6,1', 'r', 'r', 'r']\n\ndef setAlarm(on):\n    if on:\n        music.play(_m, wait = False, loop = True)    \n    else:\n        music.stop()\n        \n        \ndef beep():\n    music.pitch(2000, 200, wait = False)",
+  mbminibit: "from microbit import *\nfrom neopixel import *\nimport utime\n\n_nbLeds = 4\n_np = NeoPixel(pin13, _nbLeds)\n\n_speedPercent = 50\n_powerLeft = 90\n_powerRight = 90\n\n_powerOffset = 0\n_powerDifferential = 0\n_arcScaling = 0\n\n_MAX_CM_DISTANCE = 500\n_CM_PER_MICROSECOND = 29.1\n\n\ndef _setMotors(dirL, powerL, dirR, powerR):\n    pin8.write_analog(powerL if dirL == 1 else 0)\n    pin12.write_analog(0 if dirL == 1 else powerL)\n    pin16.write_analog(0 if dirR == 1 else powerR)\n    pin14.write_analog(powerR if dirR == 1 else 0)\n\n\ndef _pulse_in(pin, value, timeout):\n    start_time = utime.ticks_us()\n    while pin.read_digital() != value:\n        if utime.ticks_diff(utime.ticks_us(), start_time) > timeout:\n            return 0\n    start_time = utime.ticks_us()\n    while pin.read_digital() == value:\n        if utime.ticks_diff(utime.ticks_us(), start_time) > timeout:\n            return 0\n    return utime.ticks_diff(utime.ticks_us(), start_time)\n\n\ndef _getArcBytes(r):\n    outerSpeed = _speedPercent\n    if r > 0:\n        innerSpeed = outerSpeed * max(0.2, min(1, 1 - r / 100))\n    else:\n        innerSpeed = 0\n\n    innerByte = _convertSpeedToAnalogValue(int(innerSpeed), 0)\n    outerByte = _convertSpeedToAnalogValue(int(outerSpeed), 0)\n    return (innerByte, outerByte)\n\n\ndef _convertSpeedToAnalogValue(speed, offset):\n    analogValue = int(speed * 255 / 100) + offset\n    return min(max(analogValue, 0), 255)\n\n\ndef calibrate(offset, differential=0, arcScaling=0):\n    global _powerDifferential\n    global _powerOffset\n    global _arcScaling\n    _powerOffset = max(min(int(offset), 100), -10)\n    _powerDifferential = max(min(int(differential), 150), -150)\n    _arcScaling = max(min(arcScaling, 50), -15)\n    setSpeed(_speedPercent)\n\n\ndef setSpeed(speed):\n    global _speedPercent\n    global _powerLeft\n    global _powerRight\n    _speedPercent = int(min(max(speed, 0), 100))\n    powerByte = _convertSpeedToAnalogValue(_speedPercent, _powerOffset)\n    boost = round((1 - _speedPercent / 100) *\n                  abs(_powerDifferential)) if _speedPercent > 0 else 0\n    reduction = round((_speedPercent / 100) * abs(_powerDifferential))\n    if _powerDifferential > 0:\n        _powerLeft = powerByte - reduction\n        _powerRight = powerByte + boost\n    else:\n        _powerLeft = powerByte + boost\n        _powerRight = powerByte - reduction\n\n\ndef stop():\n    _setMotors(0, 0, 0, 0)\n\n\ndef forward():\n    _setMotors(0, _powerLeft, 0, _powerRight)\n\n\ndef backward():\n    _setMotors(1, _powerLeft, 1, _powerRight)\n\n\ndef left():\n    _setMotors(1, _powerLeft, 0, _powerRight)\n\n\ndef right():\n    _setMotors(0, _powerLeft, 1, _powerRight)\n\n\ndef rightArc(radius):\n    inner, outer = _getArcBytes(radius)\n    _setMotors(0, outer, 0, inner)\n\n\ndef leftArc(radius):\n    inner, outer = _getArcBytes(radius)\n    _setMotors(0, inner, 0, outer)\n\n\ndef setLED(pos, red, green, blue):\n    _np[pos] = (red, green, blue)\n    _np.show()\n\n\ndef fill(red, green, blue):\n    for i in range(_nbLeds):\n        _np[i] = (red, green, blue)\n    _np.show()\n\n\ndef getDistance():\n    trig = pin15\n    echo = pin15\n    d = 10\n    trig.set_pull(trig.NO_PULL)\n    for _ in range(10):\n        trig.write_digital(0)\n        utime.sleep_us(2)\n        trig.write_digital(1)\n        utime.sleep_us(10)\n        trig.write_digital(0)\n        duration = _pulse_in(echo, 1, _MAX_CM_DISTANCE * _CM_PER_MICROSECOND)\n        if duration > 0:\n            d = duration\n            break\n    return round(d / _CM_PER_MICROSECOND)\n",
+  mbrobot_plusV2: `# mbrobot_plusV2.py
+# Date 10/09/24
+
+from microbit import i2c, pin0, pin1, pin2, pin13, pin14, pin15, sleep
+import gc
+import machine
+import music
+import neopixel
+
+# Motor state
+_speedPercent = 50
+_powerByteL = 50
+_powerByteR = 50
+_motorState = bytearray(5)
+_powerBytesLUT = bytes(b'\\x00\\x0f\\x10\\x10\\x11\\x12\\x12\\x13\\x13\\x14\\x15\\x15\\x16\\x16\\x17\\x18\\x18\\x19\\x19\\x1a\\x1b\\x1b\\x1c\\x1c\\x1d\\x1e\\x1e\\x1f\\x1f\\x20\\x21\\x21\\x22\\x22\\x23\\x24\\x24\\x25\\x25\\x26\\x27\\x29\\x2a\\x2b\\x2c\\x2d\\x2e\\x2f\\x30\\x31\\x32\\x33\\x34\\x35\\x36\\x37\\x38\\x39\\x3a\\x3b\\x3b\\x3c\\x3e\\x3f\\x41\\x43\\x45\\x47\\x49\\x4b\\x4d\\x50\\x52\\x55\\x58\\x5b\\x5e\\x61\\x65\\x69\\x6d\\x71\\x75\\x7a\\x7f\\x84\\x89\\x8f\\x95\\x9b\\xa2\\xa9\\xb1\\xb9\\xc1\\xca\\xd3\\xdd\\xe8\\xf3\\xff')
+
+# Calibration data
+_powerOffset = 0
+_powerDifferential = 0
+_arcScaling = 0
+_servoMinPulse = 25
+_servoMaxPulse = 131
+
+# Signaling objects and buffers
+_ledState = bytearray(b'\\x0B\\0\\0')
+_underglowNP = neopixel.NeoPixel(pin15, 4)
+np_rgb_pixels = _underglowNP
+_alarmSequence = ['c5:1', 'r', 'c5,1', 'r:3']
+
+_UNCONNECTEDERRORMSG = "Please connect to Maqueen robot and switch it on."
+
+# Utility functions
+
+
+def _setMotors(dirL, powerL, dirR, powerR):
+    # """Write Motor State via i2c
+
+    # Parameters:
+    #     dirL (0/1): Direction of left Wheel. 0=forward, 1=backward
+    #     powerL (int): Power of left Wheel in range [0,255].
+    #     dirR (0/1): Direction of right Wheel. 0=forward, 1=backward
+    #     powerR (int): Power of right Wheel in range [0,255].
+    #
+    # raises:
+    #     RuntimeError: if Robot is switched off or unconnected. (replaces ENODEV error)
+    # """
+    global _motorState
+    _motorState[1] = dirL
+    _motorState[2] = powerL
+    _motorState[3] = dirR
+    _motorState[4] = powerR
+    try:
+        i2c.write(0x10, _motorState)
+    except:
+        raise RuntimeError(_UNCONNECTEDERRORMSG)
+
+
+def _setSingleMotor(side, dir, power):
+    # """Write Motor State of a single Motor via i2c
+
+    # Parameters:
+    #     side (0/2): Selection of the Wheel. 0=left, 2=right
+    #     dir (0/1): Direction for that Wheel. 0=forward, 1=backward
+    #     power (int): Power for that Wheel in range [0,255].
+    #
+    # raises:
+    #     RuntimeError: if Robot is switched off or unconnected. (replaces ENODEV error)
+    # """
+    global _motorState
+    _motorState[1 + side] = dir
+    _motorState[2 + side] = power
+    try:
+        i2c.write(0x10, _motorState)
+    except:
+        raise RuntimeError(_UNCONNECTEDERRORMSG)
+
+# _getPowerByte was used to create LookUpTable (_powerBytesLUT) used in _getPowerByteLUT to reduce Memory Leaks.
+# def _getPowerByte(speed, offset):
+#     # """Computes the power value for a given speed in %.
+#     # It accouts for the nonlinearity of motor strength.
+#     # This is the original function that generates the LUT.
+#
+#     # Parameter:
+#     #     speed (number): Desired speed of the Robot in %. Range [0,100].
+#     #     offset (int): basic power offset to add to the function.
+#     # Returns:
+#     #     int: Power in range [0,255] to write to the motors via i2c.
+#     # """
+#     if speed <= 0:
+#         return 0
+#     elif speed < 40:
+#         return int(0.6 * speed + 15 + offset)
+#     elif speed < 60:
+#         return int(speed + offset)
+#     elif speed < 100:
+#         return int(min(1.05546 ** speed + 34 + offset, 255))
+#     else:
+#         return 255
+
+
+def _getPowerByteLUT(speed, offset):
+    # """Lookup Table version of _getPowerByte"""
+    return min(_powerBytesLUT[speed] + offset, 255)
+
+
+def _getArcBytes(r):
+    # """Computes the power bytes to drive an arc.
+
+    # Parameter:
+    #     r (float): Radius in meters of the desired Arc.
+    #         Measured from the center of the axle.
+    # Returns:
+    #     (int, int): Power byte values for each motor.
+    #         First the outer Wheels byte [0,255],
+    #         then the inner Wheels byte [0,255].
+    # """
+    rmm = int(r * 100)  # radius in mm
+    outerSpeed = _speedPercent
+    # adjust outer speed for unhealthy values
+    if outerSpeed < 25:
+        outerSpeed = 25
+    speedFix = min(abs(outerSpeed - 70), 20) / 20
+    reducedSpeed = 0
+    if rmm > 5:
+        # formula derived from data and simplified
+        n = outerSpeed * (3 * _arcScaling - outerSpeed - 9 * rmm + 220)
+        d = -14 * _arcScaling + outerSpeed - 200 + 3 * outerSpeed - 10 * rmm - 290
+        reducedSpeed = int(n/d)
+        if reducedSpeed < 2:  # fix values at low radii (negative values too)
+            reducedSpeed = 2 if rmm > 15 else 1
+    innerByte = _getPowerByteLUT(int(reducedSpeed), 0)
+    outerByte = _getPowerByteLUT(int(outerSpeed), 0)
+    return (innerByte, outerByte)
+
+# Movement functions
+
+
+def calibrate(offset, differential=0, arcScaling=0):
+    # """Adjust the driving behaviour of the robots
+
+    # Parameters:
+    #     offset (int): Offsets the minimal power of the motors.
+    #         Range [-10,50]. Highly affected by battery level.
+    #         Adjust this value until it starts moving at speed 1%.
+    #     differential (int, optional): Adjusts power difference
+    #         of left and right Wheel. Range [-150, 150].
+    #         Varies unpredictably with different speeds.
+    #         If a Robot steers left when driving forward: negative value
+    #         If a Robot steers right when driving forward: positive value
+    #         Perfectly straight driving Robots can leave this at 0.
+    #     arcScaling (int, optional): Adjusts the radius
+    #         driven by leftArc/rightArc. Valid range [-50, 50].
+    #         If the Robots radius is too large: positive value
+    #         If the Robots radius is too small: negative value
+    #         This then adjusts all radii for this Robot, by
+    #         scaling it's internal function to the new range.
+    # """
+    global _powerDifferential
+    global _powerOffset
+    global _arcScaling
+    _powerOffset = max(min(int(offset), 50), -14)
+    _powerDifferential = max(min(int(differential), 150), -150)
+    _arcScaling = max(min(arcScaling, 50), -50)
+    setSpeed(_speedPercent)
+
+
+def setSpeed(speed):
+    # """sets the speed for future motion
+
+    # Parameter:
+    #     speed (int): in Range [0,100] as % of desired velocity.
+    # """
+    global _speedPercent
+    global _powerByteL
+    global _powerByteR
+    _speedPercent = int(min(max(speed, 0), 100))
+    powerByte = _getPowerByteLUT(_speedPercent, _powerOffset)
+    boost = round((1 - _speedPercent / 100) *
+                  abs(_powerDifferential)) if _speedPercent > 0 else 0
+    reduction = round((_speedPercent / 100) * abs(_powerDifferential))
+    if _powerDifferential > 0:
+        _powerByteL = powerByte - reduction
+        _powerByteR = powerByte + boost
+    else:
+        _powerByteL = powerByte + boost
+        _powerByteR = powerByte - reduction
+
+
+def resetSpeed():
+    setSpeed(50)
+
+
+def stop():
+    _setMotors(0, 0, 0, 0)
+
+
+def forward():
+    _setMotors(0, _powerByteL, 0, _powerByteR)
+
+
+def backward():
+    _setMotors(1, _powerByteL, 1, _powerByteR)
+
+
+def left():
+    _setMotors(1, _powerByteL, 0, _powerByteR)
+
+
+def right():
+    _setMotors(0, _powerByteL, 1, _powerByteR)
+
+
+def rightArc(radius):
+    # """radius must be given in meters."""
+    inner, outer = _getArcBytes(radius)
+    _setMotors(0, outer, 0, inner)
+
+
+def leftArc(radius):
+    # """radius must be given in meters."""
+    inner, outer = _getArcBytes(radius)
+    _setMotors(0, inner, 0, outer)
+
+
+class Motor:
+    def __init__(self, side):
+        # """Create a single motor.
+
+        # Parameter:
+        #     side (0/2): 0=left, 2=right
+        # """
+        self._side = side
+
+    def rotate(self, speed):
+        # """Controls rotation of this motor.
+
+        # Parameters:
+        #     speed (int): Desired speed in %.
+        #         Valid range [-100,100].
+        #         Negative values are for backward turning.
+        # """
+        speedClamped = int(min(max(abs(speed), 0), 100))
+        power = _getPowerByteLUT(speedClamped, _powerOffset)
+        direction = 0 if speed > 0 else 1
+        _setSingleMotor(self._side, direction, power)
+
+
+def setServo(servo, angle):
+    # """Moves the Servo to position angle.
+    # Servos must be connected to the Maqueen Plus V2's "P" connectors.
+    # They are located at the back of the robot.
+
+    # Parameters:
+    #     servo (str): Desired Servo Port. Either 'P0', 'P1' or 'P2'.
+    #     angle (int): Desired angle in degrees. Range [0,180].
+
+    # raises:
+    #     ValueError: if arguments are out of valid range
+    # """
+    if servo == "P0" or servo == 'S1':
+        pin = pin0
+    elif servo == "P1" or servo == 'S2':
+        pin = pin1
+    elif servo == "P2":
+        pin = pin2
+    else:
+        raise ValueError("Unknown Servo. Please use 'P0', 'P1' or 'P2'.")
+
+    if angle < 0 or angle > 180:
+        raise ValueError("Invalid angle. Must be between 0 and 180")
+
+    frac = (_servoMaxPulse - _servoMinPulse) * int(angle)
+    offset = (frac >> 8) + (frac >> 10) + (frac >> 11) + (frac >> 12)  # / 180
+    usPulseTime = _servoMinPulse + offset  # min + (max-min) * (angle / 180)
+    pin.set_analog_period(20)
+    pin.write_analog(usPulseTime)
+
+
+def setMinAngleVal(duty):
+    # """ Sets the minimal pulse duty cycle for the servo.
+    # It should match 1ms of a 20ms period, where the duty is in range [0,1024].
+    # Theoretically: 1/20*1024 = 51. Practically: Default is 25. adjust carefully in steps of 1.
+    #
+    # Parameter:
+    #     duty (int): The minimal duty amount for a write_analog signal with 20ms pulse.
+    #         It should approximate 1ms. 1ms/20ms*1024 = min duty = 0-degree position for the servo.
+    # """
+    global _servoMinPulse
+    _servoMinPulse = int(duty)
+
+
+def setMaxAngleVal(duty):
+    # """ Sets the maximal pulse duty cycle for the servo.
+    # It should match 2ms of a 20ms period, where the duty is in range [0,1024].
+    # Theoretically: 2/20*1024 = 102. Practically: Default is 131. adjust carefully to increase range of the servo.
+    #
+    # Parameter:
+    #     duty (int): The maximal duty amount for a write_analog signal with 20ms pulse.
+    #         It should approximate 2ms. 2ms/20ms*1024 = max duty = 180-degree position for the servo.
+    # """
+    global _servoMaxPulse
+    _servoMaxPulse = int(duty)
+
+# Sensor functions
+
+
+class IRSensor:
+    _address = bytes(b'\\x1D')
+
+    def __init__(self, index):
+        # """Create a new IR sensor.
+
+        # Parameter:
+        #     index (int): 0=R2, 1=R1, 2=M, 3=L1, 4=L2
+        # """
+        self._index = index
+
+    def read_digital(self):
+        # """Returns if the surface below is dark or bright.
+        # Result can be adjusted by putting the sensor on the dark
+        # surface and pressing the LineKey calibration button on the
+        # Robot for a few seconds, until the LED's blink.
+
+        # Returns:
+        #     0 if the surface is dark. No light was reflected (in Air).
+        #     1 if the surface is bright. A lot of light was reflected.
+        #
+        # raises:
+        #     RuntimeError: if Robot is switched off or unconnected. (replaces ENODEV error)
+        # """
+        try:
+            i2c.write(0x10, IRSensor._address)
+        except:
+            raise RuntimeError(_UNCONNECTEDERRORMSG)
+        byte = ~i2c.read(0x10, 1)[0]
+        # mask out corresponding bit, from returned byte.
+        return (byte & (2 ** self._index)) >> self._index
+
+    def read_analog(self):
+        # """Returns the brightness of the surface as a byte.
+
+        # Returns:
+        #     int: amount of reflection of light in range [0,255].
+        #
+        # raises:
+        #     RuntimeError: if Robot is switched off or unconnected. (replaces ENODEV error)
+        # """
+        try:
+            i2c.write(0x10, IRSensor._address)
+        except:
+            raise RuntimeError(_UNCONNECTEDERRORMSG)
+        # Buffer structure:
+        # 1 Byte Bitmask (for digital redout),
+        # then 10 Bytes analog byte values (every second entry is a value).
+        buffer = i2c.read(0x10, 11)
+        return buffer[1 + self._index * 2]
+
+
+def ir_read_values_as_byte():
+    # """get single byte with bit encoding of each Infrared sensor state
+    #  Bits: 0=R2, 1=R1, 2=M, 3=L1, 4=L2
+    # """
+    i2c.write(0x10, bytearray([0x1D]))
+    buf = i2c.read(0x10, 1)
+    return ~buf[0]
+
+
+def getDistance():
+    # """uses the ultrasonic sensor to measure distance
+
+    # Returns:
+    #     int: valid Distance as cm in range [0,500].
+    #         For measurement errors or larger distances: 255.
+    # """
+    pin13.write_digital(1)
+    pin13.write_digital(0)
+    p = machine.time_pulse_us(pin14, 1, 50000)
+    # approximate division: p / 58.2 - 0.5
+    cm = (p >> 6) + (p >> 10) + (p >> 11) + (p >> 12) + 1
+    return max(min(cm, 500), 0) if cm > 0 else 255
+
+# Signaling functions
+
+
+def setLED(state, stateR=None):
+    # """Set the front red LED's.
+
+    # Parameters:
+    #     state (0/1): Sets the state of the left LED.
+    #         if stateR is omitted, then both LEDS.
+    #         0=Off, 1=On
+    #     stateR (0/1/None, optional): Sets the right LED state.
+    #         0=Off, 1=On, Default=None uses "state" for right LED.
+    # """
+    global _ledState
+    stateR = stateR if stateR != None else state
+    _ledState[1] = state
+    _ledState[2] = stateR
+    i2c.write(0x10, _ledState)
+
+
+def setLEDLeft(state):
+    # """state: 0=Off, 1=On"""
+    global _ledState
+    _ledState[1] = state
+    i2c.write(0x10, _ledState)
+
+
+def setLEDRight(state):
+    # """state: 0=Off, 1=On"""
+    global _ledState
+    _ledState[2] = state
+    i2c.write(0x10, _ledState)
+
+
+def fillRGB(red, green, blue):
+    # """Uses Neopixel to set all 4 bottom RGB LEDs color.
+    # Parameters (red,green,blue) are each a byte in Range [0,255].
+    # """
+    for i in range(4):
+        _underglowNP[i] = (red, green, blue)
+    _underglowNP.show()
+setRGB=fillRGB
+
+
+def clearRGB():
+    _underglowNP.clear()
+
+def posRGB(position, red, green, blue):
+    # """Uses Neopixel to set a single RGB LED of the robot.
+
+    # Parameters:
+    #     position (int): position of the targeted LED.
+    #         Numbers are visible at underside of Robot.
+    #         0=front left
+    #         1=back left
+    #         2=back right
+    #         3=front right
+    #     red, green, blue (int): color byte value.
+    #         each in range [0,255].
+
+    # raises:
+    #     ValueError: if position argument is out of valid range
+    # """
+    if position < 0 or position > 3:
+        raise ValueError("invalid RGB-LED position. Must be 0,1,2 or 3.")
+    _underglowNP[position] = (red, green, blue)
+    _underglowNP.show()
+
+
+def setAlarm(state):
+    if state:
+        music.play(_alarmSequence, wait=False, loop=True)
+    else:
+        music.stop()
+
+
+def beep():
+    music.pitch(440, 200, wait=False)
+
+# Class constants (for compatibilty)
+
+
+class LEDState:
+    ON = 1
+    OFF = 0
+    RED = 1
+
+
+class IR:
+    R2 = 0
+    R1 = 1
+    M = 2
+    L1 = 3
+    L2 = 4
+    masks = [0x01, 0x02, 0x04, 0x08, 0x10]
+
+
+# Default instances
+pin2.set_pull(pin2.NO_PULL)
+delay = sleep
+irR2 = IRSensor(0)
+irR1 = IRSensor(1)
+irRight = irR1
+irM = IRSensor(2)
+irL1 = IRSensor(3)
+irLeft = irL1
+irL2 = IRSensor(4)
+motL = Motor(0)
+motR = Motor(2)
+`
+};
+
+// src/index.ts
+var minified = {
+  calliope: libraries_default,
+  microbit: libraries_default2
+};
+var raw = {
+  calliope: libraries_raw_default,
+  microbit: libraries_raw_default2
+};
+var DEVICES = Object.keys(minified);
+function assertDevice(device) {
+  if (!(device in minified)) {
+    throw new Error(
+      `Unknown device: ${device}. Valid devices are: ${DEVICES.join(", ")}`
+    );
+  }
+}
+function listDevices() {
+  return [...DEVICES];
+}
+function listLibraries(device) {
+  assertDevice(device);
+  return Object.keys(minified[device]);
+}
+function getLibrary(device, name) {
+  assertDevice(device);
+  const source = minified[device][name];
+  if (source === void 0) {
+    throw new Error(
+      `Unknown ${device} library: ${name}. Valid libraries are: ${listLibraries(device).join(", ")}`
+    );
+  }
+  return source;
+}
+function getRawLibrary(device, name) {
+  assertDevice(device);
+  const source = raw[device][name];
+  if (source === void 0) {
+    throw new Error(
+      `Unknown ${device} raw library: ${name}. Valid libraries are: ${listLibraries(device).join(", ")}`
+    );
+  }
+  return source;
+}
+// Annotate the CommonJS export names for ESM import in node:
+0 && (module.exports = {
+  calliopeLibraries,
+  calliopeRawLibraries,
+  getLibrary,
+  getRawLibrary,
+  listDevices,
+  listLibraries,
+  microbitLibraries,
+  microbitRawLibraries
+});
+//# sourceMappingURL=index.js.map